A3E SERIES SERVO USER MANUAL

SV-A3E Series Servo Drive

User Manual

Table of Contents
Preface ................................................................................................................................ 3
1. About this user manual ......................................................................................................... 3
2. Confirm the following items before unpacking. .................................................................... 3
3. Safety precautions ................................................................................................................. 3
1. Product introduction and model selection ................................................................. 7
1.1 Product nameplates and models ........................................................................................ 7
1.2 Part names of servo motors and drives .............................................................................. 8
1.3 Combination of the drive and the motor ............................................................................ 9
1.4 Model selection of external regenerative resistor ............................................................ 10
1.5 Selection of cables and connector accessories ................................................................. 10
2. Product specifications ................................................................................................ 12
2.1 Servo drive specifications .................................................................................................. 12
2.2 Motor specifications.......................................................................................................... 16
3. Product installations and dimensions ...................................................................... 27
3.1 Installation environmental conditions .............................................................................. 27
3.2 Installations and spacing ................................................................................................... 27
3.3 Dimensions of servo motors ............................................................................................. 29
3.4 Dimensions of servo drives ............................................................................................... 35
4. Servo motor and drive wrings .................................................................................... 38
4.1 System wiring diagram ...................................................................................................... 38
4.2 Drive terminal descriptions ............................................................................................... 40
4.3 Terminal arrangement and wire color of motor connectors ............................................. 42
4.4 RS-485 communication wirings ......................................................................................... 44
4.5 I/O control terminal (CN1) descriptions ............................................................................ 45
4.6 Standard wiring diagrams ................................................................................................. 47
4.7 Timing chart ...................................................................................................................... 52
5. Operation panel and operations ................................................................................ 54
5.1 Keys descriptions ............................................................................................................... 54
5.2 Display descriptions .......................................................................................................... 54
5.3 JOG running and parameter identification........................................................................ 56
6. Control functions ......................................................................................................... 58
6.1 Position control mode ....................................................................................................... 58
6.2 Speed control mode .......................................................................................................... 62
6.3 Torque control mode ......................................................................................................... 64
6.4 Motion control functions .................................................................................................. 65
7. Parameters ................................................................................................................... 73
7.1 List of parameters.............................................................................................................. 73
7.2 Parameter descriptions ..................................................................................................... 85
8. Gain tuning ................................................................................................................. 132

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8.1 Gain tuning introductions ............................................................................................... 132
8.2 Automatic gain tuning (auto-tuning)............................................................................... 133
8.3 Adaptive filtering ............................................................................................................. 135
8.4 Manual gain tuning ......................................................................................................... 137
9. Fault protections and alarms ................................................................................... 144
9.1 List of errors and alarms.................................................................................................. 144
9.2 Troubleshooting .............................................................................................................. 145
10. Communication ........................................................................................................ 152
10.1 Communication rules .................................................................................................... 152
10.2 Communication read/write commands ........................................................................ 152
10.3 Communication DI functions......................................................................................... 154
10.4 Communication DO functions ....................................................................................... 155
10.5 Reading encoder absolute positions ............................................................................. 155

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Preface

Thank you for purchasing ACTION TECHNOLOGY products. This user manual provides instructions for advanced use of the

SV-A3E series servo drive and motor. Wrong operations may cause hazardous conditions and shorten the service life. Please

read through the manual thoroughly before using.

1. About this user manual

○,1We make every effort to perfect this user manual, however if you have found some mistakes or uncertain points, please

contact ACTION TECHNOLOGY at any time.

○,2Please note the following items on the user manual

●Danger exists as it’s the high-voltage device.

●There will be some residual voltage on the terminals or inside the devices even after power OFF and it is dangerous.

●High temperature locally

●Disassembling is prohibited.

●Product specifications and functions may change without notice.

●Consult our sales representative if the equipment using ACTION TECHNOLOGY needs to obtain safety certificates.

●To extend the service life of motor and drive, it is necessary to use it under the correct conditions. Please follow this user

manual for details.

●The latest information should be recorded in the user manual and manual will be updated regularly. If you need the latest

version, please contact ACTION TECHNOLOGY distributors.

●Without the approval of company, it is forbidden to reprint part or all of this user manual.

2. Confirm the following items before unpacking.

●Check if the products are the ones you ordered.

●Check if there are some damage to the products during transportation.

●Any questions, please contact the ACTION TECHNOLOGY distributor.

3. Safety precautions

This section will introduce the main instructions that users shall follow during the receiving, storage, handling, installation,

wiring, operation, inspection and disposal of the products.

Indicates that incorrect handling may result in death or severe injury.

Indicates that incorrect handling may result in medium or slight personal injury or physical damage.

Indicates “Prohibitions” (Indicates what must not be done.)

Indicates “Forced”. (Indicates what must be done.)

Installing and wiring

Do not connect the servo motor to the commercial power. To prevent fire or malfunction.

Do not place combustibles around the servo motor and drive. To prevent fire.

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Be sure to leave specified clearances between the case or other To prevent electric shock, fire or

equipment and the drive. malfunction.

Install it at the place free from excessive dust and dirt, water or oil mist To prevent electric shock, fire ,

malfunction or damage

Install the equipment to incombustibles, such as metal. To prevent fire.

Any person who is involved in wiring and inspection should be fully To prevent electric shock.

competent to do the work.

FG terminal of motor and drive must be grounded. To prevent electric shock.

Perform wiring correctly after switching off the breaker. To prevent electric shock, injury,

malfunction or damage

Insulate electrical parts when connecting cables. To prevent electric shock, fire or

malfunction.

Operation and running

During operation, never touch the internal parts of the drive. To prevent burns or electric shock.

The cables should not be damaged, stressed loaded, or pinched. To prevent electric shock, malfunction

or damage.

During operation, never touch the rotating parts of the servo motor. To prevent injury.

Do not install the equipment under the conditions with water, corrosive or To prevent fire.

flammable gas.

Do not use it at the location with great vibration or shock. To prevent electric shock, injury or

fire.

Do not use the servo motor with its cable soaked in oil or water. To prevent electric shock,

malfunction or damage

Operate the switches and conduct wiring with dry hand. To prevent electric shock, injury or

fire.

Do not touch the keyway directly when using the motor with shaft-end To prevent injury.

keyway

Do not touch the motor and drive heat sink, as they can be very hot. To prevent burns or parts damaged.

Do not drive the motor by external force. To prevent fire.

Other safety instructions

Confirm the equipment’s safety after the earthquake happens. To prevent electric shock, injury or

fire.

Install and set correctly to prevent the fire and personal injury when To prevent injury, electric shock, fire,

earthquake happens. malfunction or damage.

Set up an external emergency stop circuit to ensure that operation can be To prevent injury, electric shock, fire,

stopped and power switched off immediately. malfunction or damage.

Before wiring or inspection, turn off the power and wait for 5 minutes or To prevent electric shock.

more.

Installing and wiring

Please follow the specified combination of the motor and drive. To prevent fire or malfunction.

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Do not touch the terminals of connector directly. To prevent electric shock or

malfunction.

Do not block intake and prevent the foreign matters from entering into the To prevent electric shock or fire.

motor and drive.

Fix the motor and JOG without load. After JOGGING, the motor can be To prevent injury.

securely mounted to mechanical system.

The servo motor must be installed in the specified direction. To prevent injury or malfunction.

Install the equipment correctly in accordance with its weight and rated To prevent injury or malfunction.

output.

Operation and running

Do not stand on servo equipment. Do not put heavy objects on equipment. To prevent electric shock, injury, fault

or damage.

The parameter settings must not be changed excessively. Operation will To prevent injury.

be instable.

Keep away from direct sunlight. To prevent malfunction.

Do not put strong impact on the motor, drive or motor shaft. To prevent malfunction.

The electromagnetic brake on the servo motor is designed to hold the To prevent injury or malfunction.

servo motor shaft and should not be used for ordinary braking.

Do not install or operate a faulty servo motor or drive. To prevent injury, electric shock or

fire

Check the power supply specification. To prevent fault.

The electromagnetic brake may is not a braking device. To ensure safety, To prevent injury.

install a stopping device on the machine side.

When there is an alarm, check the causes and clear the alarm; then To prevent injury.

restart.

Connect the relay for emergency stop and for brake in series. To prevent injury or malfunction.

Transportation and storage

Do not store the equipment in places with rain, water drop, poisonous To prevent malfunction.

gases or liquids.

Do not carry the servo motor by the cables, shaft or encoder during To prevent injury or malfunction.

transportation.

Do not drop or dump the motor during transportation and installation. To prevent injury or malfunction.

Store the unit in a place in accordance with the user manual. To prevent malfunction.

Other safety instructions

Please dispose the battery according to your local laws and regulations.

When disposing of the product, handle it as industrial waste.

Maintenance and inspection

Do not disassemble and/or repair the equipment by yourself. To prevent malfunction.

Do not turn on or switch off the main power frequently. To prevent malfunction.

Do not touch the servo drive heat sink, regenerative resistor, servo motor To prevent burns or electric shock.

etc. Their temperatures may be high while power is on or for some time

after power-off.

When the drive become faulty, switch off the control circuit and main To prevent fire.

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power.

If the servo motor is to be stored for a long time, switch off the power. To prevent malfunction and injury.

Maintenance and inspection

<Warranty period>

The term of warranty for the product is 12 months from the date of manufacture. For motors with brake, they are warranted

when acceleration/deceleration times is not beyond the specified service life.

<Warranty coverage>

●This warranty applies only when the condition, method, environment, etc. Of use are in compliance with those stated in this

user manual. Even during warranty period, the repair cost will be charged on customer in the following cases:

1) Failure caused by improper storing or handling, repair and modification.

2) Failure caused by the parts which have dropped down or damaged during transportation

3) Failure caused when the products have been used beyond the product specification

4) Failure caused by external factors such as inevitable accidents, including but not limited to fire, earthquake, lightning stroke,

windstorm disaster, flood, salt damage, abnormal fluctuation of voltage and other natural disaster.

5) Failure caused by the intrusion of water, oil, metal and other foreign matters.

●The warranty coverage is only for the product itself. We assume no responsibilities for any losses of opportunity and/or profit

incurred by failure of the product.

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1. Product introduction and model selection

1.1 Product nameplates and models

Contents of name plate

Figure 1.1.1 Nameplate description

Servo motor nameplate

Servo driver nameplate

Model designation

Figure 1.1.2 Servo motor models

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Figure 1.1.3 Servo drive models

1.2 Part names of servo motors and drives

Figure 1.1.4 Part names of servo motor

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Figure 1.1.5 Part names of servo drive

1.3 Combination of the drive and the motor

Table 1. 3. 1 Combination of the drive and the motor

Capacity Motor model Motor size Drive model Drive size

SV-A3E□□□□□-*HN** (Flange

installation

size)

400W Low inertia L1.27 60 SD-A3EW0400V2E-HN Frame A

High inertia H1.27

750W Low inertia L2.39 80 SD-A3EW0750V2E-HN

High inertia H2.39

1kW Middle inertia M4.77 130 SD-A3EW1000V2I-HN Frame B

High inertia H4.77

1.5kW Middle inertia M7.16 SD-A3EW1500V2I-HN

High inertia M7.16

2kW Middle inertia M9.55 SD-A3EW2000V2I-HN

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1.4 Model selection of external regenerative resistor

Table 1. 4. 1 Model selection of external regenerative resistor

Rated output 50W 100W 200W 400W 750W 1kW 1.5 kW 2 kW

Resistance 40~50Ω 40~50Ω 40~50Ω 40~50Ω 40~50Ω 30Ω 30Ω 20Ω

Capacity 40W 40W 40W 40W 40W 50W 60W 80W

For details please refer to parameter P00.21 (regenerative resistor setting), P00.22 (external regenerative resistor capacity),

P00.23 (External regenerative resistor resistance value) and P00.24 (external regenerative resistor heating time constant).

The use of regenerative resistor cannot necessarily guarantee the performance. If heating is too high, please increase the

resistance or the capacity.

1.5 Selection of cables and connector accessories

● For 750W or below

Table 1.5.1

Items Usage Model name Remark

1 Connector for drive and motor Power connector - SY-A3CNPW750W-HN

2 Cable for drive and motor Power cable - SY-A3CBPW750W0.5M-HN Length: 0.5m

Power cable - SY-A3CBPW750W1.5M-HN Length: 1.5m

Power cable - SY-A3CBPW750W3M-HN Length: 3m

Power cable - SY-A3CBPW750W4M-HN Length: 4m

Power cable - SY-A3CBPW750W5M-HN Length:5m

Power cable - SY-A3CBPW750W6M-HN Length:6m

Power cable - SY-A3CBPW750W7M-HN Length:7m

Power cable - SY-A3CBPW750W10M-HN Length: 10m

3 Brake connector Not available

4 Encoder cable terminal Encoder connector SY-A3CNEN750W-HN

5 Encoder cable - SY-A3CBEN750W0.5M-HN Length: 0.5m

- SY-A3CBEN750W1.5M-HN Length: 1.5m

- SY-A3CBEN750W3M-HN Length: 3m

- SY-A3CBEN750W5M-HN Length:5m

- SY-A3CBEN750W10M-HN Length: 10m

6 Encoder cable for absolute Not available

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● For 1KW or above

Table 1.5.2

Items Usage Model name Remark

1 Connector for drive and motor Power connector SY-A3CNPW0102K-HN

2 Cable for drive and motor Power cable - SY-A3CBPW0102K0.5M-HN Length: 0.5m

Power cable - SY-A3CBPW0102K1.5M-HN Length: 1.5m

Power cable - SY-A3CBPW0102K3M-HN Length: 3m

Power cable - SY-A3CBPW0102K5M-HN Length:5m

Power cable - SY-A3CBPW0102K10M-HN Length: 10m

3 Brake connector Not available

4 Encoder cable terminal Encoder connector SY-A3CNEN0102K-HN

5 Encoder cable - SY-A3CBEN0102K0.5M-HN Length: 0.5m

- SY-A3CBEN0102K1.5M-HN Length: 1.5m

- SY-A3CBEN0102K3M-HN Length: 3m

- SY-A3CBEN0102K5M-HN Length:5m

- SY-A3CBEN0102K10M-HN Length: 10m

6 Encoder cable for absolute - Not available Length: 0.5m

- Not available Length: 1.5m

- Not available Length: 3m

- Not available Length:5m

- Not available Length: 10m

7 50P pulse connector Pulse connector

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2. Product specifications

2.1 Servo drive specifications

2.1.1 General specifications

Table 2.1.1 General specifications

Items Specification

Model Name
0050 0100 0200 0400 0750 1000 1500 2000
SV-A3EW□□□□-HN

Applicable motor 50W 100W 200W 400W 750W 1kW 1.5kW 2kW

Dimension W(mm) 42 49 84

H(mm) 160 160 160

D(mm) 135 135 135

Weight(Kg) 0.7 0.8 1.6

Frame A Single-phase 200~240V±10％ 50/60Hz

Main

Input
Frame B Three-phase 200~240V±10％ 50/60Hz
power
Control power Single-phase 200~240V±10％ 50/60Hz

Dielectric strength 1 minute at 1500 VAC across the primary and FG

Control type Three-phase PWM inverting sine-wave

General specification

Encoder feedback Single-turn absolute 17-bit (multi-turn absolute with battery)

Digital Input 9 inputs (24VDC, photo-coupler insulation) Switch by control mode

signal Output 9 outputs (24VDC, photo-coupler insulation, open-collector output) Switch by control mode

Analog
Input 2 inputs (±10V) Switch by control mode
signal

Pulse Input 2 inputs (photo-coupler insulation, RS-422 differential, open-collector)

signal Output 4 outputs (A/B/Z-phase RS-422 differential, Z-phase open collector output)

Communication USB: Connection with PC (with “Servostudio” software)

function RS-485: remote communication(1: n)

Regeneration function External regenerative resistor possible

Dynamic brake Not built-in

7 control modes: Position control, speed control, torque control, position/speed control,
Control mode
position/torque control, speed/torque control, fully closed-loop control (optional part needed)

Servo ON, alarm reset, deviation counter clear, positive/negative direction

Digital input signals
over-travel, internal command selection, homing start etc.

Alarm state, servo ready, brake off, homing complete, position reached, servo
Digital output signals
Position control

state, torque limiting, speed limiting zero-speed output, etc.

Functions

Max input pulse Differential input: Up to 2Mpps, pulse width larger than 0.25us;

frequency Open-collector input: Up to 200Kpps, pulse width larger than 2.5us

Pulse
Input pulse type Differential input; open-collector
input
Input pulse form Pulse+ direction, A-Phase + B-Phase, CW+CCW

Electronic gear A/B A: 1~1073741824 B: 1~1073741824,

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Encoder resolution/10000000 < A/B <Encoder resolution/2.5

Smoothing Smoothing filter, FIR filter

A-Phase, B-Phase: Differential output

Output pulse form
Pulse Z-Phase: Differential output or open collector output

output Division ratio Arbitrary frequency division

Output pulse Encoder pulse or position Pulse instruction(can be set)

Servo ON, alarm reset, speed instruction negation, zero-speed clamp, internal
Digital input signals
speed control, external forward/reverse torque limit etc.

Alarm state, servo ready, brake off, speed reached, torque limiting, speed
Digital output signals
limiting, zero-speed output, etc.
Speed control

Speed input Input voltage -10V to +10V (Maximum speed at ±10V)

1) Internal torque limit by P03.09, P03.10

Torque limit 2) External torque limit by P03.11, P03.12 enabled by P_CL/N_CL signals

Analog input source 3) TLMTP i.e. AI1 or AI2 as external forward/reverse torque limit

4) TLMTP as forward limit; TLMTN as reverse limit

Torque 1) Internal torque feedforward

feedforward 2) TFFD, AI1 or AI2

Digital input signals Servo ON, alarm reset, torque instruction negation, zero-speed clamp etc.
Torque control

Digital output signals Alarm state, servo ready, brake off, speed reached, torque limiting etc.

Analog input Torque input DC±10V as to rated torque(adjustable by function codes)

Speed limit 1) Positive/ negative speed limit P03.27, P03.28 2) SPL i.e. AI input

Speed monitoring Provided

Vibration control Provided

Adaptive notch filter Provided

Auto-tuning Provided
Common

Encoder output division and

Provided
multiplication

Internal position control Provided

PC setting Servostudio software

Overvoltage, power supply error, overcurrent, overheat, overload, encoder error,

Protective functions
over speed, position deviation too large, parameter error

Ambient temperature for use 0~55⁰C

Temperature
Ambient temperature for storage -20~65⁰C
Environmental specifications

Ambient humidity for use 20~85% RH or less (Without condensation)

Humidity
Ambient humidity for storage 20~85% RH or less (Without condensation)

Indoors (Not subject to direct sunlight); free from corrosive gas,

Atmosphere for use & storage
flammable gas, oil mist, or dust

Altitude 1000m or less above sea level

5.8m/s2 (0.6G) or less, 10~60Hz (No continuous operation allowed

Vibration
at frequency of resonance)

Note 1) Refer to Table 1. 4. 1 for selection of external regenerative resistors.

Note 2) Input pulse forms are described below:

Table 2.1.2

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Parameter Logic Input signal form Signal name The minimum necessary time range (t1, t2, t3, t4, t5, t6)

P00.07 Positive direction Negative direction

0 Positive Pulse & direction Pulse CMD_PLS

Instruction pulse Direction

CMD_DIR

1 Negative Pulse & direction Pulse CMD_PLS

Instruction pulse Direction

CMD_DIR

2 Positive AB-phase orthogonal A-Phase

Phase pulse CMD_PLS

B-Phase CMD-DIR

3 Negative AB-phase orthogonal A-Phase

Phase pulse CMD_PLS

B-Phase CMD-DIR

4 Positive Positive direction pulse CW CMD_PLS

Negative direction pulse CCW CMD_DIR

5 Negative Positive direction pulse CW CMD_PLS

Negative direction pulse CCW CMD_DIR

■Max input pulse frequency and minimum input pulse width.

Table 2.1.3

The minimum necessary time [μs]

Input pulse signal I/F Max. pulse frequency
t1 t2 t3 t4 t5 t6

Differential input 2Mpps 0.25 0.25 2.5 0.5 0.25 0.25

Open collector input 200kpps 2.5 2.5 2.5 5.0 2.5 2.5

※The rise and fall time of input pulse signal should be 0.1μs or less.

※The pulse is counted from Low to High.

※Pulse instruction input filter selection (P06.41) should be set according to the input frequency.

※Fix the drive by the mounting holes according to section 3 and leave enough space to prevent high temperature.

※Regarding the ambient temperature of the servo drive, refer to the following figure.

2.1.2 Overload detection characteristics

For SV-A3E series servo drives, when the motor torque exceeds the torque values in the overload detection characteristics,

overload protection will start which outputs overload alarm and the motor stops emergently.
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Figure 2.1.1 Overload detection characteristics

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2.2 Motor specifications

2.2.1 General specifications

Table 2.2.1 General specifications

200V~240V AC

Items Unit Specifications

Voltage V 280VDC

Model name - 50W 100W 200W 200W 400W 400W

(SV-A3□□□□□-HN) Medium Medium Low High Low High

inertia inertia inertia inertia inertia inertia

Flange installation size mm □40 □40 □60

Mass Without brake kg 0.4 0.5 0.9 1.0 1.3 1.5

With brake 0.6 0.8 1.4 1.5 1.8 2.0

Rated output W 50 100 200 400

Rated torque N*m 0.16 0.32 0.64 1.27

Max. instantaneous torque N*m 0.56 1.12 1.91 3.82

Rated current Arms 0.6 0.9 1.7 2.7

Max. instantaneous current Arms 2.1 3.2 5.1 8.1

Rated speed r/min 3000 3000

Max. speed r/min 6000 5000

Torque constant N*m/Arms 0.25 0.36 0.417 0.498

Common specifications

Phase inductive voltage MV(r/min) 8.8 12.5 14.5 17.4

constant

Rated power No brake kW/s 5.6 13.6 23.9 9.3 58.7 23.5

change rate With brake 4.7 12.3 19.5 8.6 51.9 22.4

Mechanical No brake ms 2.60 1.69 1.12 2.87 2.60 1.66

time constant With brake 3.06 1.87 1.37 3.12 0.75 1.75

Electrical time constant ms 0.64 0.76 1.99 2.47

2
Motor rotor No brake ×10kg·m 0.045 0.074 0.17 0.43 0.28 0.70

Inertia With brake 0.053 0.082 0.21 0.47 0.31 0.74

Permissible Radial load N

Refer to 2.2.2 Output shaft permissible load
load Axial load N

Encoder 17 bit serial communication (EIA422)

Usage Holding(Note: not for braking)

Power supply - SELV power, reinforced insulation for dangerous voltage.

Rated voltage V DC24V±10%

Brake specifications

Rated current A 0.25 0.3

Static friction torque N*m 0.16 or 0.32 or 1.27 or more

more more

Absorption time ms 35 or less 50 or less

Release time ms 20 or less 15 or less

Release voltage V 1VDC or more

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Rated time Continuous

Ambient temperature for use 0~40⁰C(Without condensation)

Ambient humidity for use 20~85%RH(Without condensation)

Ambient temperature for -20~65⁰C(Highest temperature guaranteed: 80 degrees, 72hours)

storage

Ambient humidity for storage 20~85%RH (Without condensation)

Atmosphere for use/storage Indoors(Not subject to rainwater or direct sunlight); free from corrosive gas, flammable

gas, flammables, grinding fluid, oil mist, or dust

Insulation class Class B

Insulation resistance 1000 VDC megger 5MΩ or more

Dielectric strength 1500 VAC for 1 minute

Altitude 1000m or less above sea level

Ambient conditions

Vibration class V 15(JEC2121)

Vibration resistance 49 m/s2 (5G)

Impact resistance 98 m/s2 (10G)

Protective class IP65

Grounding is mandatory. Class I applicable.

Over voltage category II applicable

Points to note
Pollution degree 2 applicable

Brake cables have polarity. Red: connected with +24V. Black: connected with GND,

200V~240V AC

Items Unit Specifications

Voltage V 280VDC

Model name - 750W 750W 1000W 1000W 1500W 1500W 2000W

(SV-A3□□□□□-HN) Low High Medium High Medium High Medium

inertia inertia inertia inertia inertia inertia inertia

Flange installation size mm □80 □130

Mass No brake kg 2.5 2.7 5.6 7.6 7.0 9.0 8.4

With 3.3 3.5 7.0 9.0 8.4 10.4 9.8

brake

Rated output W 750 1000 1500 2000

Rated torque N*m 2.39 4.77 7.16 9.55

Max. instantaneous N*m 7.1 14.3 21.5 28.6

torque

Rated current Arms 4.3 5.6 9.9 12.2

Max. instantaneous Arms 12.9 16.8 30 36.6

current
Common specifications

Rated speed r/min 3000 2000

Max. speed r/min 4500 3000

Torque constant N．m/Arms 0.61 0.88 0.81 0.85

Induced voltage MV(r/min) 21.33 30.9 28.4 29.6

constant of each phase

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Rated No brake kW/s 64.1 35.9 50.0 9.2 76.9 13.8 104.9

power With 52.8 32.1 36.5 8.6 61.4 13.3 87.9

change brake
rate

Mechanical No brake ms 0.53 0.94 0.76 4.17 0.60 3.32 0.58

time With 0.64 1.06 1.05 4.43 0.75 3.46 0.69

constant brake

Electrical time constant ms 4.3 10.1 12.2 8.2

Motor rotor No brake *10kg·m2 0.89 1.62 4.56 24.9 6.67 37.12 8.70

Inertia With 1.08 1.81 6.24 26.4 8.35 38.65 10.38

brake

Permissible Radial N Refer to 2.2.2 Output shaft permissible load

load load

Axial load N

Encoder 17 bit serial communication (EIA422)

Usage Holding (Note: not for braking)

Power supply - SELV power, reinforced insulation for dangerous voltage.

Brake specifications

Rated voltage V DC24V±10%

Rated current A 0.4 1.0

Static friction torque N*m 2.39 or more 9.55 or more

Absorption time ms 70 120

Release time ms 20 30

Release voltage V 1VDC or more

Rated time Continuous

Ambient temperature for use 0~40⁰C(Without condensation)

Ambient humidity for use 20~85%RH(Without condensation)

Ambient temperature for -20~65⁰C(Highest temperature guaranteed: 80 degrees, 72hours)

storage

Ambient humidity for storage 20~85%RH (Without condensation)

Ambient conditions

Atmosphere for use/storage Indoors(Not subject to rainwater or direct sunlight); free from corrosive gas, flammable

gas, flammables, grinding fluid, oil mist, or dust

Insulation class Class B

Insulation resistance 1000 VDC megger 5MΩ or more

Dielectric strength 1500 VAC for 1 minute

Altitude 1000m or less above sea level

Vibration class V 15(JEC2121)

Vibration resistance 49 m/s2 (5G)

Impact resistance 98 m/s2 (10G)

Protective class IP65

Grounding is mandatory. Class I applicable.

Over voltage category II applicable

Points to note
Pollution degree 2 applicable

Brake cables have polarity. Red: connected with +24V. Black: connected with GND,

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200V~240V AC

Items Unit Specifications

Voltage V 280VDC

Model name - 1000W 1500W 2000W 850W 1300W 1800W

(SV-A3□□□□□-HN) Low Low Low inertia Medium Medium Medium

inertia inertia inertia inertia inertia

Flange installation size mm

Mass No brake kg 3.5 4.4 5.3 5.5 7.1 8.6

With 4.5 5.4 6.3 7.5 9 11

brake

Rated output W 1000 1500 2000 850 1300 1800

Rated torque N*m 3.18 4.77 6.37 5.39 8.28 11.5

Max. instantaneous N*m 9.55 14.3 19.1 16.2 24.84 34.5

torque

Rated current Arms 6.6 8.2 11.3 6.7 9.6 15.6

Max. instantaneous Arms 28 35 48 17 28 42

current

Rated speed r/min 3000 1500

Max. speed r/min 5000 3000

Torque constant N．m/Arms 0.52 0.628 0.607 0.89 0.92 0.774

Induced voltage MV(r/min) 18.15 21.92 21.247 31.04 32.08 27

constant of each phase

Motor rotor No brake *10kg·m2 2.03 2.84 3.68 12.2 18.2 24.4

Inertia With 2.35 3.17 4.01 16 22 28.1

Common specifications

brake

Permissibl Radial N Refer to 2.2.2 Output shaft permissible load

e load load

Axial load N

Encoder 17 bit serial communication 20 bit serial communication

Usage Holding (Note: not for braking)

Power supply - SELV power, reinforced insulation for dangerous voltage.

Brake specifications

Rated voltage V DC24V±10%

Rated current A 0.8 0.41

Static friction torque N*m 8 or more 19.6 or more

Absorption time ms 120 120

Release time ms 30 30

Release voltage V 1.5VDC or more

Rated time Continuous

Ambient conditions

Ambient temperature 0~40⁰C(Without 0℃~40℃(Lower the rating at 40℃~60℃)

for use condensation)

Ambient humidity for 20~85%RH(Without 20~80%RH(Without condensation)

use condensation)

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Ambient temperature -20~65⁰C(Without -20℃~+60℃(No freezing)

for storage condensation) *Not energized.

Highest temperature

guaranteed: 80 degrees,

72hours)

Ambient humidity for 20~85%RH (Without 20%~80%RH (Without condensation)

storage condensation) *Not energized.

Atmosphere for Indoors(Not subject to Installation site:

use/storage rainwater or direct sunlight); 1. No corrosive gas or flammable gas

free from corrosive gas, 2. Good ventilation. Places with little dust, rubbish or moisture

flammable gas, flammables, 3. Places easy to check and clear

grinding fluid, oil mist, or 4. Altitude: 1000m or less(Lower the rating if used at

dust 1000m~2000m)

5. Places with no strong magnetic field

Insulation class Class B Class F

Insulation resistance 1000 VDC megger 5MΩ or 500 VDC megger 10MΩ or more

more

Dielectric strength 1500 VAC for 1 minute 1500 VAC for 1 minute

Altitude 1000m or less above sea Lower the rating if used at altitude of 1000m~2000m

level

Vibration class V 15(JEC2121) V 15

2
Vibration resistance 49 m/s (5G) 49 m/s2

Impact resistance 98 m/s2 (10G) Impact acceleration（at flange）

：490m/s²

Times of impact: Twice

Protective class IP65 IP 67（INC144/529）, DIN40050, JEM1030

2.2.2 Output shaft permissible load

Figure 2.2.1 Output shaft permissible load

Permissible load Unit 50W 100W 200W 400W 750W 1kW 1.5kW 2kW

Permissible radial load N 68 68 245 245 392 490 490 490

Permissible axial load N 58 58 98 98 147 196 196 196

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Permissible load Unit 850W 1.3KW 1.8KW

Permissible radial load N 490 686 980

Permissible axial load N 98 343 392

2.2.3 N-T characteristics

Figure 2.2.2 N-T characteristics

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2.2.4 Encoder specifications

Table 2.2.3 Encoder specifications

Items Description Remarks

Motor Encoder type Incremental 17bit Absolute 17bit -

Power supply voltage VCC DC 4.5V~5.5V Ripple voltage 5% or less

External power supply BAT - DC 2.4V~5.5V -

External capacitor CAP - DC 2.4V~5.5V -

Current consumption 160mA (Typical) Inrush current are excluded.

State of low power consumption - 10µA(Typical) Battery voltage 3.6V at motor stop at

room temperature

Single-turn resolution Absolute 131, 072(17bit) -

Multi-revolution count - - -

Maximum speed 6, 000 r/min -

Input/output form Differential transmission -

Count-up direction (Note 1) CCW -

Transmission type Half-duplex asynchronous serial -

Communication speed 2.5Mbps -

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Working temperature 0~85⁰C -

External magnetic interference ±2mT(20G) or less -

Note 1) Up-counting direction

※Look from the front flange, rotate as counterclockwise, that is CCW.

[Note]

※When the motor rotates under 180 degree, single revolution accuracy decreases.

※When using motor with brake, please follow the brake voltage specified in the manual.

※When the brake voltage is under 12V or use under the reverse polarity, single revolution accuracy decreases.

2.2.5 About oil seal

Please use oil seal to prevent the entry of oil into the servo motor via the output shaft when using motor with gearbox. All the

SV-A3Eseries motors are available with the oil seal. Please specify oil seal when ordering.

Figure 2.2.3 Oil seal

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3. Product installations and dimensions

3.1 Installation environmental conditions

About the environmental conditions, make sure to follow the company’s instructions. If you need to use the product outside the

scope of the specified environmental conditions, please consult ACTION TECHNOLOGY Corporation in advance.

○,1 Keep it away from the direct sunlight.

○,2 Drive must be installed inside the cabinet.

○,3 Keep it away from water, oil (cutting oil, oil mist) and moisture.

○,4 Do not install the equipment under the conditions with water, corrosive and flammable gas.

○,5 Free from the dust, iron powder, cutting powder and so on.

○,6 Keep it away from the area with high temperature, excessive vibration or shock.

3.2 Installations and spacing

Impact & load

①The impact that the motor can stand should be less than 200m/s2(20G). Don’t apply excessive impact load to the motor

during transportation, installing or uninstalling. And do not drag encoder, cable or connector during transportation.

②The pull claw device must be used when removing the motor from belt pulleys or couplings.

Connecting with mechanical system

①Permissible load to the motor shaft has been specified in this user manual. Exceeding the permissible load will shorten the

shaft service life and cause damages to the shaft. Please use coupling which could fully absorb eccentric load.

②The stress on the encoder cable should be less than 6kgf during installations.

③The bending radius of power cable and encoder cable should be R20mm and more.

Installation direction and clearance of drives

Leave sufficient space around the drive to ensure the heat dissipation and convection in the cabinet when installing the drive.

Figure 3.3.1 Installation clearance for drives

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●Install the drives in the vertical direction. Please use two M5 screws to fix the drive 750W or below. Please use three M5

screws to fix the drive 1KW or above.

●When the drives are installed in the sealed cabinet, in order to ensure that surrounding temperature between internal

boards is less than 55⁰C, cooling fan or cooler need to be installed to reduce the temperature.

●The temperature on the surface of cooling plate would be 30⁰C higher than the surrounding temperature.

●Use heat-resistant material for wiring and isolate wiring from the machine and other cables which are easily heated.

●The service life of servo drive depends on the temperature around the electrolytic capacitor. When the electrolytic capacitor

is close to the service life, the static capacity will decrease and internal resistance will increase. Consequently, it will lead to

overvoltage alarm, malfunction caused by noise and components damage. The service life of electrolytic capacitor is approx.

5 to 6 years under such condition: average annual temperature 30⁰C, load rate 80% and operation of less than 20 hours a day

on average.

Additional instructions

①The motor shaft is covered with anti-rust oil before shipping form factory. Please conduct such anti-rust treatment again to

prevent the shaft from rust when installing.

②Never disassemble the encoder or motor.

③Please use the same power supply (GND and 24VDC) for control voltage and upper controller.

④Do not remove or service the encoder battery until the main power supply is switched OFF.

⑤After switching off the main power supply, please note that there is residual voltage of approx. 30 seconds on the power

components.

⑥Do not replace the fuse.

⑦Servo drives 750W or above are installed with a cooling fan on the right side. Do not touch or block the ventilation ports of

the servo drive

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3.3 Dimensions of servo motors

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3.4 Dimensions of servo drives

Models of 200W or below

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Models of 400W/750W

Models of 1000W

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Models of 1500W or above

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4. Servo motor and drive wrings

4.1 System wiring diagram

4.1.1 System wiring diagram

Figure 4.1.1 System Wiring diagram

※ Control circuit power supply and main circuit power supply should be wired from the same 200VAC main power supply.

※ A twisted-pair shielded cable should be used if I/O cable length is over 50cm. Encoder cable should be less than 20m.

① Please note that there is high voltage in the solid line of wiring diagram when wiring and using.

② The dotted lines in the wiring diagram indicates non-dangerous voltage circuit.

4.1.2 Selection of peripheral devices

Table 4.1.1 Selection of peripheral devices

Items Description

Peripheral devices Conform to European EC Directive. Select the device which meets corresponding standards

and install them in accordance with Figure 4.1.1 System Wiring diagram

Installation environment Install the drive in environment conforming to Pollution degree 2 or 1 of IEC60664-1.

Power supply 1: 00~230VAC This product can be used under the conditions that conform to IEC60664-1 and overvoltage

(main and control circuit) category Ⅱ.

Power supply 2: 24VDC 24VDC external power supply should use SELV power supply (※) and be less than 150W.

♦ I/O power supply This is the CE corresponding conditions.

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♦ Power supply for brake ※SELV: safety extra low voltage (Reinforced insulation is needed for safety extra low

release voltage, non-dangerous voltage and dangerous voltage.)

Wiring Please use withstand voltage cables which are equivalent to AWG18/600V or AWG14/600V

for motor power cable, encoder cable, AC220 input cable, FG cable and main circuit power

distribution cable under multi-axis drive structure respectively when drives are less than

750W or more than 1kW .

Circuit breaker Switch off the power supply to protect power cord when overcurrent occurs.

Make sure to use the breaker between power supply and interference filter that conforms to

IEC specification and UL recognition in accordance with the User manual. Please use the

breaker with leakage function recommended by ACTION TECHNOLOGY in order to meet

EMC standards.

Noise filter To prevent the outside interference from power cables please use the interference filter

recommended by ACTION TECHNOLOGY in order to meet EMC standards.

Magnetic contactor Switch main power supply (ON/OFF). And use it after installing a surge absorber.

Surge absorber Please use the surge absorber recommended by ACTION TECHNOLOGY.

Interference filter for signal Please use the interference filter recommended by ACTION TECHNOLOGY in order to

cable / ferrite core meet EMC standards.

Regenerative resistor This product is not equipped with regenerative resistor. The external regenerative resistor is

necessary when the internal capacitor cannot absorb more regenerative power and

regenerative voltage alarm is ON. For details, refer to 1.4 Model selection of external

regenerative resistor. Use a built-in thermostat and set overheat protect circuit.

Grounding This product belongs to Class 1 and need grounding protection.

Grounding should be executed for the case and cabinet that conforms to EMC.

The following symbol indicates the protection grounding terminal?

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4.2 Drive terminal descriptions

4.2.1 Drive terminal descriptions

Figure 4.2.1 Drive terminal descriptions

Table 4.2.1 Terminal arrangement of drive (750W or below)

Name Symbol Pin No. Signal name Contents

2 B1 P interface of regenerative resistor

Regenerative resistor B1/B2/
3 B2 N interface of regenerative resistor

1 L1C AC power input

AC power input L1C/
2 L2C
L2C/
Single-phase 200VAC 4 Primary Power 1 L
L/N
input 5 Primary Power 2 N

1 U Motor power U phase output

Motor power output U/V/W 2 V Motor power V phase output

3 W Motor power W phase output

1 VCC Encoder power supply 5V output

Encoder CN2
2 GND Signal grounding

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3 NC -

4 NC -

5 +D Encoder signal: data input/output

6 -D Encoder signal: data input/output

- FG Connect SHIELD to the connector housing

1 VBUS USB power supply

2 D- USB data-

PC communication CN3 3 D+ USB data+

4 NC -

5 GND USB signal grounding

3 485 485 signal from upper controller

Communication CN4 4 /485 /485 signal from upper controller

5 SG Communication signal grounding

1 24V 24V for external fan

External fan CN14 2 G24 GND for external fan

3 NC -

I/O control terminal CN1 Refer to Section 4.5 Wiring description of I/O control terminal (CN1)

Table 4.2.2 Terminal arrangement of drive connector (1kW or above)

Name Symbol Pin No. Signal name Contents

B1/ 2 B1 P interface of regenerative resistor

Regenerative resistor
B2/ 3 B2 N interface of regenerative resistor

L1C/ 1 L1C AC power input

AC power input
L2C/ 2 L2C

L1/ 3 Primary Power 1 L1

Three-phase 200VAC
L2/ 4 Primary Power 2 L2
input
L3 5 Primary Power 3 L3

1 U Motor power U phase output

Motor power output U/V/W 2 V Motor power V phase output

3 W Motor power W phase output

1 VCC Encoder power supply 5V output

2 GND Signal grounding

3 NC -

Encoder CN2 4 NC -

5 +D Encoder signal: data input/output

6 -D Encoder signal: data input/output

- FG Connect SHIELD to the connector housing

1 VBUS USB power supply

2 D- USB data-

PC communication CN3 3 D+ USB data+

4 NC -

5 GND USB signal grounding

Communication CN4 3 485 485 signal from upper controller

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4 /485 /485 signal from upper controller

5 SG Communication signal grounding

1 24V 24V for external fan

External fan CN14 2 G24 GND for external fan

3 NC -

I/O control terminal CN1 Refer to Section 4.5 Wiring description of I/O control terminal (CN1)

4.3 Terminal arrangement and wire color of motor connectors

4.3.1 Motor connector and pins arrangement (750W or below)

Figure 4.3.1 Motor connector and pins arrangement

Table 4.3.1 Cable list (For motor of 750W or below)

Name Cable

Motor power input AWG18

Note 1)
Brake AWG22

Encoder (Incremental) Power supply: AWG22

Encoder (Absolute) Signal: AWG24

Note 1: For the motor with brake.

Table 4.3.2 Terminal arrangement and wire color for motor of 750W or below

Name Pin No. Signal name Contents Wire color

1 U Motor power U phase Red

Motor power 2 V Motor power V phase White

input 3 W Motor power W phase Black

4 FG Motor housing grounding Green

1 BRK+ Brake power supply 24VDC Yellow(orange)

Brake
2 BRK- Brake power supply GND Blue(brown)

1 - NC -
Encoder
2 +D Serial communication data + data White (red dotted)
(incremental/
3 -D Serial communication data - data White (black dotted)
absolute )
4 VCC Encoder power supply 5V Orange (red dotted)

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5 GND Signal ground Orange (black dotted)

6 SHIELD Shielded wires Black

※1 For motor with brake.

※2 External capacitor and battery are taking GND as the reference potential.

※3 Internal connection (IC) has been connected internally. Do not connect it with any other wires.

4.3.2 Motor connector and pins arrangement (1kW or above)

Figure 4.3.2 Motor connector and pins arrangement (1kW or above)

Table 4.3.3 Cable list (for motor of 1kW or above)

Name Cable

Motor power input AWG14

Brake AWG18

Encoder (Incremental) Power supply: AWG22

Encoder (Absolute) Signal: AWG24

Table 4.3.4 for the motor of 1kW or more

Name Pin No. Signal name Contents

A U Motor power U phase

Motor power B V Motor power V phase

input C W Motor power W phase

D FG Motor housing grounding

Brake 1 BRK1 Brake power supply 24VDC

2 BRK2 Brake power supply GND

1 VCC Encoder power supply 5V output

2 GND Signal ground

3 - NC
Encoder
4 - NC
(incremental)
5 +D Serial communication data + data

6 -D Serial communication data - data

7 - NC

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8 - NC

9 - NC

10 SHIELD Shielded wires

1 VCC Encoder power supply 5V output

2 GND Signal ground

3 CAP External capacitor (※1)

4 BAT External battery (※1)

Encoder 5 +D Serial communication data +

(Absolute) 6 -D Serial communication data -

7 IC Internal connection (※2)

8 IC Internal connection (※2)

9 GND Signal ground

10 SHIELD Shielded wires

※1 External capacitor and battery are taking GND as the reference potential.

※2 Internal connection (IC) has been connected internally. Do not connect it with any other wires.

4.4 RS-485 communication wirings

Figure 4.4.1 Multi-station connection example

L1=5m (max): cables between upper controller and servo drive should be less than 5m.

L2=250mm (max): cables between each servo drive should be less than 250mm.

Terminal resistor: Connect the terminal resistor between the Pin A & B of CN4 or Pin 43 & 44 of CN1 at the last drive and

upper controller (220Ω).

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4.5 I/O control terminal (CN1) descriptions

Figure 4.5.1 Description of I/O control terminal

Table 4.5.1 Descriptions of I/O control terminal

Pin No. Signal name Contents

1 24V Drive power supply 24V output

2 G24V Drive power supply GND

3 COM+ I/O power supply input

4 I1 Digital signal input

5 I2 Digital signal input

6 I3 Digital signal input

7 I4 Digital signal input

8 I5 Digital signal input

9 I6 Digital signal input

10 I7 Digital signal input

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11 I8 Digital signal input

12 COM- I/O power supply GND

13 O1 Digital signal output

14 O2 Digital signal output

15 O3 Digital signal output

16 O4 Digital signal output

17 O5 Digital signal output

18 O6 Digital signal output

19 O7+ Digital signal output +

20 O7- Digital signal output -

21 O8+ Digital signal output +

22 O8- Digital signal output -

26 CMD_PLS Pulse instruction input PLS+

27 /CMD_PLS Pulse instruction input PLS-

28 CC-P Open-collector Pulse instruction input PLS power(24V)

29 CC-D Open-collector Pulse instruction input DIR power(24V)

30 CMD_DIR Pulse instruction input DIR+

31 /CMD_DIR Pulse instruction input DIR-

32 AI1 Analog input

33 GND Analog reference GND

34 AI2 Analog input

35 GND Analog reference GND

36 OUTA Pulse output A

37 /OUT_A Pulse output /A

38 OUT_B Pulse output B

39 /OUT_B Pulse output /B

40 OUT_Z Pulse output Z

41 /OUT_Z Pulse output /Z

42 GND Pulse output reference GND

43 485 RS-485 communication

44 /485 RS-485 communication

45 GND RS-485 reference GND

47 I9 Digital signal input

48 O9 Digital signal output

49 CC-P_5V Open-collector Pulse instruction input PLS power (5V)

50 CC-D_5V Open-collector Pulse instruction input DIR power (5V)

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4.6 Standard wiring diagrams

Pulse instruction differential input

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Pulse instruction 24V open-collector input

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Pulse instruction 5V open-collector input

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Analog input

Note 1: Control power output (24V, G24V) can be used as I/O power (COM+, COM-). But the maximum output current is

150mA, and when driving the output such as relay and brake, please use external independent power.

Note 2: Please connect protective circuit (diode) when driving load with inductive component such as relay.

Note 3: Output pins can output high level or low level, based on different wiring mode. So perform the wiring according to

actual needs. Make wiring as follows:

Pins output low level Pins output high level

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Pins output low level Pins output high level

Note 4: The differential pulse output and 485 communication circuits need to connect the terminal resistor.

Note 5: Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6: O9 does not configure any functions by default, but can be used as the DO output and the OC output of Z-pulse. In this

case, do not configure any DO function to O9 that is P04. 29 is set to 0, and P04. 54 is set to 1.

Note 7: The default function of O8 is the fault output, and the default output logic state is normally closed output.

Note 8: Two cases according to the pulse generation mode: NPN and PNP, as shown below.

Note 9: Two cases according to the pulse generation mode: NPN and PNP, as shown below.

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※ DI function can be flexibly configured by function codes. DI is valid by default when connected and the logic can be

changed by function codes.

※ DO function can be flexibly configured by function codes. DO is valid by default when connected and the logic can be

changed by function codes.

4.7 Timing chart

4.7.1 Timing at power-on(Servo-ON signal accept timing at power-on)

4.7.2 Servo-ON/OFF action when the motor is in motion

Note 1) When motor stops, the time sequence of dynamic brake output is related to the motor running speed. The greater the

speed, the greater the time sequence. And the minimum value is 400us.

Note 2) When the motor stops, the time sequence of brake release is related to the settings of P04. 52 and P04. 53. And the

minimum value is 2ms.

4.7.3 When an error(alarm) has occurred (at servo-ON command)

(1) Free run deceleration operation

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Note 3) When motor stops, the time sequence of dynamic brake output is related to the motor running speed. The greater the

speed, the greater the time sequence. And the minimum value is 500us.

Note 4) When the motor stops, the time sequence of brake release is related to the settings of P04. 52 and P04. 53. And the

minimum value is 2ms.

(2) Immediate stop operation

Note 5) When motor stops immediately, the time sequence of dynamic brake output is related to the motor running speed. The

greater the speed, the greater the time sequence. And the minimum value is 500us.

Note 6) When the motor stops immediately, the time sequence of brake release is related to the motor running speed. At

immediate stop, the speed feedback is smaller than the setting value(50rpm), “brake release output” becomes invalid. And the

minimum value is 2ms.

4.7.4 When an alarm has been cleared(at servo-ON command)

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5. Operation panel and operations

5.1 Keys descriptions

MODE button (m): switch level of parameters.

SET button (s): confirm the parameters modified.

UP button (^): increase value

DOWN button (˅): decrease value

SHIFT button (s): shift to the data digit to be changed. For 32 bit, long-press SHIFT button to display higher digit. Long-press

again to display sign bit. At the Level-0 panel, press SHIFT key to switch the monitoring parameters.

5.2 Display descriptions

The panel shows after power-on, indicating it is initializing, then to display Level-0 contents.
Level-0 panel display:

When in fault: The first row of Level-0 panel flashes to display the error or alarm code.

For example:

Error display: Alarm display: .

Here press the SET button, the panel will not flicker. Press the MODE button to enter the Level-1 panel.

The second row displays: ; the lower left corner indicates ;

No fault: When all the settings after initialization are normal, the panel displays ; the first row of Level-0

panel can monitor up to 12 state parameters. Up to 12 parameters can be displayed when the error or alarm occurs and

up to 11 parameters when the drive is normal. When the error or alarm occurs, the first displayed is the error or alarm

code, the second is operation state. When no error or alarm occurs, the first displayed is the operation state.

The other ten parameters can be set by P07,01 to P07.10. The setting value can be any value except 0 in Group P21.

When set to 0, the corresponding position has no monitor parameters and press SHIFT button to skip it.

For example, when P07.01 is set to 1, it can monitor the parameter P21.01 (Motor speed feedback). These monitor

parameters can be switched to display by pressing SHIFT button. If the monitor parameter is 32 bit, e.g. P21.17

(Feedback pulse counter), long-press the SHIFT button to switch over.

The second displays are shown below

When the first row displays parameters of P07.01 to P07.10, then 21-xx displays and xx is the setting value of P07.01 to
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P07.10, e.g. ;

In other cases, it displays ; the lower left corner displays .

The first row displays are shown below according to different control modes when running:

Position control mode

Speed control mode

Torque control mode

Level-1 panel display:

The first row displays parameter group No., e.g. P00, and the rightmost digit flickers to be modified. When modifying

other digits, press SHIFT button.

The second row displays ;

The lower left corner displays .

Press SET button to enter Level-2 panel display.

Press MODE button to return to Level-0 panel display.

Level-2 panel display:

The parameter No. is shown below:

The first row displays parameter group No. and offset, e.g. , and the rightmost digit flickers to be modified.
When modifying other digit, press SHIFT button to shift.

The second row displays the property of the parameters:

Indicates the parameters can be read and written and no sign;

Indicates the parameters can be read and written and with sign;
Indicates the parameters can be read and written and no sign; the parameter becomes valid after restarting;

Indicates the parameters can be read and written and with sign; the parameter becomes valid after
restarting;

Indicates the read-only parameter and no sign;

Indicates the read-only parameter and with sign;

Indicates the reserved parameter and cannot be read or written.
The lower left corner displays MENU and PARA.

Press SET button to enter Level-3 panel display.

Press MODE button to return to Level-1 panel display.

Level-3 panel display:

Take P01.00 as the example and displays. The specific value is determined by the property of parameter
value. If the parameter value can be modified, the rightmost bit will flicker. When modifying other digit, press SHIFT

button to shift. If the parameter is 32 bit, long-press the SHIFT button to switch over.

The second row displays the group No. and offset. Take P01.00 as the example and display .

The lower left corner indicates .

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After pressing the SET button, the displays are shown as follows:

The first row:

Displays and indicates the successful modification of parameters. The parameter becomes valid after
restarting power. Or it always displays until press the MODE button.

Displays and indicates the successful modification of parameters. The parameter becomes valid
immediately (about 4ms). After this parameter displays about 1s, it returns to the Level-2 panel display automatically.

Displays and indicates the successful modification of parameters. This parameter becomes valid after
servo stops or power restarts. After displaying for about 1s, it returns to the Level-2 panel display automatically.

Indicates read-only parameter and cannot be modified. After displaying for about 1s, it returns to the Level-2
panel display automatically.

Indicates the parameter cannot be written due to the specified range. For example, when P00.02 is not set to
0, the group P01 cannot be written into.

Press MODE button to return to Level-2 panel display.

5.3 JOG running and parameter identification

5.3.1 Operation and display at JOG running

1) Before entering JOG interface

Go to P20.00, then press SET button to enter the JOG interface and it displays JOG speed setting value (value of P03.04). If

all other parameters are factory default, below will be shown:

Displays at the first row and the last digit flickers, indicating it can be modified. Press SHIFT button to shift to another
digit and press UP/DOWN button to increase/ decrease the numerical value.

Displays at the second row.

The lower left corner displays .

2) After entering JOG interface

After entering JOG interface, press SET button to show:

Displays at the first row and the digit will not flicker, indicating the digit cannot be modified. Now the JOG process
starts.

Displays at the second row.

The lower left corner displays .

Hold and press UP button, the motor will do forward rotating at the speed displayed at the first-row. Hold and press DOWN

button, the motor will do reverse rotating at the speed displayed at the first-row. When release UP/DOWN button, the motor

will stop rotating. But this does not exit the JOG process. The drive is still in the speed control mode only the command is 0.

Press MODE button to exit the JOG process.

5.3.2 Inertia and encoder initial angle identification

1) Before entering the identification interface

Go to P20.03 and below will be shown:

displays at the first row and the last digit will flicker, indicating it can be modified. Modifying it to 1, the
forward-rotation inertia identification will be performed. Modifying to 2, the reverse-rotation inertia identification will be

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performed. Modifying to 5, the encoder initial angle identification will be performed. Other values are undefined.

Displays at the second row.

The lower left corner displays .

2) After entering the identification interface

After entering the identification interface, when the parameter value at first-row is modified to 1 or 2, press SET button to start

the inertia identification. The displays are shown below:

The first row displays , the value of load inertia ratio (P00.04).

The second row displays , the inertia identification is being performed.

After the identification is completed, the inertia value will be displayed at the first row.

The second row displays , indicating the identification has been completed.

The lower left corner displays .

After identification has been completed, long-press SET button (about 2s or more), the inertia value identified just now can be

stored into E2PROM. The actual process is, the inertia value identified has been recorded into P00.04 and then the value of

P00.04 stored into E2PROM.

After entering the identification interface, modify the parameter value at first row to 5, then press SET button, the encoder

initial angle identification starts. The first row displays the value of present electrical angle (P21. 09).

The second row displays , indicating the initial angle identification is being performed.
After the identification is completed, the first row will display the value of present initial angle.

The second row displays , indicating the initial angle identification has been completed.
The lower left corner displays .
After the identification is completed, no storage is required. Long-press SET button (about 2s or more) has no effect.

Press MODE button to exit the identification process.

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6. Control functions

6.1 Position control mode

Outline

Position control can be performed based on the position instruction (pulse train) from the upper controller or internal position

control. This section describes the fundamental setup to be used for the position control.

Figure 6.1 Block diagram of position control function

Function description

1. Position instruction processing section:

Position instruction processing section determines the command source, does command counting and specifies the command

unit required by the present control mode in real-time. There are three position instruction sources (P00.05): 0-Pulse

instruction; 1-step value; 2-internal position control. Pulse instruction has six forms (P00.07): 0-Direction + pulse, positive logic

(Default); 1-Direction+ pulse, negative logic; 2- A-phase + B-phase, positive logic; 3- A-phase + B-phase, negative logic; 4-

CW+CCW, positive logic; 5- CW+CCW, negative logic. .The user needs to set P00.05 and P00.07 based on the actual

command from upper controller and determines the wiring mode by differential input or open-collector (OC) input based on the

signal form from the upper controller.

When the command source is step value, set the step value in P00.26. The drive will have the interpolation at a very low

speed to complete the specified position distance, which can be used for manual adjustment.

When command source is internal position control, set the 16 positions, speeds and acceleration/deceleration times. The drive

will have the linear interpolation based on the set parameters to complete the specified position distance.

Relevant parameters:

P00 05 Position instruction source 0: Pulse instruction

1: Step value instruction

2: Internal position control

3: Reserved

P00 07 Pulse form 0: Direction + pulse, positive logic (Default)

1: Direction + pulse, negative logic

2: A-phase + B-phase, positive logic

3: A-phase + B-phase, negative logic

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4: CW+CCW, positive logic

5: CW+CCW, negative logic

P00 26 Step value setting -9999~9999 command unit

For details of internal position control, please refer to the parameters of Group P08.

2. Electronic gear:

This function multiplies the input pulse instruction from the upper controller by the specified ratio and applies the result to the

position control section as the final position control command per unit of encoder minimum resolution.

When P00.08 is not 0, Position control command = Encoder resolution * Input command / P00.08;

When P00.08 is 0, Position control command = Electronic gear ratio numerator * Input command / Electronic gear ratio

denominator. The present electronic gear ratio can be selected by DI function of GEAR_SEL1 and GEAR_SEL2.

GEAR_SEL1 OFF, GEAR_SEL2 OFF→Electronic gear ratio 1

GEAR_SEL1 ON, GEAR_SEL2 OFF→Electronic gear ratio 2

GEAR_SEL1 OFF, GEAR_SEL2 ON→Electronic gear ratio 3

GEAR_SEL1ON, GEAR_SEL2 ON→Electronic gear ratio 4

Relevant parameters:

P00 08 Instruction units per motor one revolution(32-bit) 0 Unit/Turn ~1073741824 Unit/Turn

P00 10 Electronic gear numerator 1 (32-bit) 1~1073741824

P00 12 Electronic gear denominator (32-bit) 1~1073741824

P06 00 Electronic gear numerator 2(32-bit) 1~1073741824

P06 02 Electronic gear numerator 3(32-bit) 1~1073741824

P06 04 Electronic gear numerator 4(32-bit) 1~1073741824

Even though the setting range of electronic gear ratio numerator/ denominator is wide, when the ratio exceeds the setting

range, the electronic gear setting fault Err.048 occurs. Therefore, the electronic gear ratio must satisfy the following range:

Encoder resolution / 10000000 ≤ Numerator / Denominator ≤ Encoder resolution / 2.5

3. Position instruction filter

To smooth the instruction calculated by the electronic gear ratio, the position instruction filter function must be used. There are

two built-in position instruction filters: Low-pass smoothing filter (IIR) and FIR filter. The longer the filtering time, the better the

filtering effect, but the response delay also becomes larger.

Relevant parameters:

P02 00 Position instruction smoothing filter 0ms~6553.5ms

P02 01 Position instruction FIR filter 0.0ms~128.0ms

P02 19 Position instruction FIR filter 2 0.0ms~128.0ms

4. Pulse frequency-division output function

The motor rotating position information can be sent to the upper controller in the form of AB-phase orthogonal pulse. Z-phase

signal outputs once per motor revolution. Pulse output source, resolution, phase logic and Z-signal logic can be set by the

function codes.

Relevant parameters:

P00 14 Pulse output counts per motor one revolution (32-bit) 16PPR ~ 1073741824PPR

P00 16 Pulse output positive direction definition 0-CCW

1-CW

P00 17 Pulse output OUT_Z polarity 0-Z pulse high level

1-Z pulse low level

2-High accuracy Z pulse high level

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3- High accuracy Z pulse low level

P00 18 Pulse output function selection 0- Encoder frequency-division output

1- Pulse instruction synchronous output

2-Pulse instruction interpolation output (gantry

synchronization)

3-External encoder pulse synchronization output

5 Deviation clear function

This function is used to clear pulse deviation of internal position controller in any situation to avoid the accumulated position

deviation.

Relevant parameters:

P06 06 Position deviation clearance 0: Clear position deviation when servo is OFF and has error;

function 1: Clear position deviation only when servo has error;

2: Clear position deviation when servo is OFF and has error and

PERR_CLR is valid;

3: Clear position deviation only by PERR_CLR

6. Input pulse inhibition function

This function is used to ignore the pulse input signal when necessary and the counting of position instruction input counter will

be forced to stop. Only DI7, 8, 9 can be used.

Relevant parameters:

P06 42 Input pulse inhibition setting 0: 0.5ms twice continuously consistent;

1: 0.5ms three times continuously consistent;

2: 1ms three times continuously consistent;

3: 2ms three times continuously consistent.

(Only DI7,8,9 can be selected)

7. Positioning completion detection function

If position deviation is within the setting range, servo can determine the positioning completion and position near and output

digital signal COIN and NEAR based on the settings

Relevant parameters:

P04 47 Positioning completion (COIN) 1P~65535P

threshold

P04 48 Positioning completion output 0: When position deviation absolute value is less than the setting

setting value of P04.47, output COIN signal;

1: When position deviation absolute value is less than the setting

value of P04.47 and position instruction is 0, output COIN signal;

2- When position deviation absolute value is less than the setting

value of P04.47 and position instruction is 0, output COIN signal and

holding time is the setting value of P04.49.

3: When position deviation absolute value is less than the setting

value of P04.47 and position instruction is 0 after filtering, output

COIN signal;

4: Condition 0 and zero-speed signal is valid, output COIN signal;

5: Condition 1 and zero-speed signal is valid, output COIN signal;

6: Condition 2 and zero-speed signal is valid, output COIN signal;

7: Condition 3 and zero-speed signal is valid, output COIN signal.

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P04 49 Positioning completion holding 1~65535ms

time

P04 50 Positioning near (NEAR) threshold 1P~65535P

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6.2 Speed control mode

Outline

You can control the speed according to the speed command (e.g. analog input) from the upper controller or the speed

command set in the servo drive.

Figure 6.2 Block diagram of speed control mode

Function description

1. Analog speed command processing

The speed source is set in P03.00. When P03.00 is set to 1, set the analog input channel (default AI1) of SPR in P05.16 to 18

first. The analog speed command processing section performs the A/D conversion on analog voltage from the upper controller

and convert the result to equivalent digital speed command. Meanwhile, user can set the digital filter to eliminate the noise.

When P03.00 is set to 0, set the digital speed command value in P03.03.

When P03.00 is set to 3, set the 16 multi-stage internal speed command value and acceleration/deceleration time in P03.31 to

P03.51.

Relevant parameters:

P03 00 Speed instruction source 0: by P03.03 setting value;

1: SPR (default AI1);

2: SPR, multi-stage 2~16 switchover;

3: multi-stage 1~16 switchover;

4: communication setting;

5: SPR + digital setting;

6: multi-stage 1~16 switchover + digital setting.

P03 03 Speed instruction digital setting -9000rpm~9000rpm

P05 00 AI1 minimum input -10.00V~10.00V

P05 01 Corresponding value of AI1 -100.0%~100.0% ((100% speed corresponds to P05.14 setting value,

minimum input 100% torque corresponds to P05.15 setting value.)

P05 02 AI1 maximum input -10.00V~10.00V

P05 03 Corresponding value of AI1 -100.0%~100.0%

maximum input

P05 04 AI1 zero offset -500mV~500mV

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P05 05 AI1 dead-zone setting 0. 0~20. 0%

P05 06 AI1 input filter time 0. 0ms~6553. 5ms

P05 07 AI2 minimum input -10.00V~10.00V

P05 08 Corresponding value of AI2 -100.0%~100.0%

minimum input

P05 09 AI2 maximum input -10.00V~10.00V

P05 10 Corresponding value of AI2 -100.0%~100.0%

maximum input

P05 11 AI2 zero offset -500mV~500mV

P05 12 AI2 dead-zone setting 0.0~20.0%

P05 13 AI2 input filtering time 0. 0ms~6553. 5ms

P05 14 AI setting 100% speed 0~9000rpm

P05 15 AI setting 100% torque 0~5. 00*motor rated torque

P05 16 AI1 function selection 0: SPR, speed instruction;

1: TQR, torque instruction;

2: SPL, speed limit;

3: TLMTP, positive torque limit;

4: TLMTN, negative torque limit;

5: TFFD, torque feedforward.

P05 17 AI2 function selection 0: SPR, speed instruction;

1: TQR, torque instruction;

2: SPL, speed limit;

3: TLMTP, positive torque limit;

4: TLMTN, negative torque limit;

5: TFFD, torque feedforward.

2. Zero-speed clamp (ZERO_SPD) function

The speed command can be set to 0 forcibly by DI function ZERO_SPD. User can determine whether to switch over to

position control mode by setting value of P03.19.

Relevant parameters:

P03 19 Zero-speed clamp function 0: Invalid

1: When ZERO_SPD is valid, the speed command is forced to be 0.

2: When ZERO_SPD is valid, the speed command is forced to be 0.

When the actual speed of motor is less than the value of P03.20,

servo will switch over to position control mode and lock.

P03 20 Zero-speed clamp threshold value 0rpm~1000rpm

3. Speed conformity (V_CMP) detection

The speed conformity V_CMP signal will output when the speed command before acceleration/deceleration and motor speed

feedback is within the range specified by P04.44. There is 10rpm delay actually.

Relevant parameters:

P04 44 Speed conformity signal width 10rpm～1000rpm

4. Speed reached (V_ ARR) detection

The signal V_ARR will output when the actual speed reaches the speed specified. There is 10rpm delay actually.

Relevant parameters:

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P04 45 Speed reached signal width 10rpm~9000rpm

5. Acceleration/deceleration setting function

There are two groups of acceleration/deceleration time. When internal multi-stage speed command is used, select the

acceleration/deceleration time of Group 1 or Group 2. When the acceleration/deceleration time is set to 10ms, it indicates the

time of acceleration from 0rpm to 1000rpm or deceleration from 1000rpm to 0rpm is 10ms.

Relevant parameters:

P03 14 Acceleration time 1 0ms~65535ms/1000rpm

P03 15 Deceleration time 1 0ms~65535ms/1000rpm

P03 16 Acceleration time 2 0ms~65535ms/1000rpm

P03 17 Deceleration time 2 0ms~65535ms/1000rpm

6.3 Torque control mode

Outline

The torque control is performed according to the torque command (analog or internal torque setting). For controlling the torque,

the speed limit input is required in addition to the torque command to maintain the motor speed within the speed limit.

Figure 6.3 Block diagram of torque control mode

Function description

1. Analog torque command processing

The torque command source is set in P03.22. When P03.22 is set to 1, set the analog input channel of TQR in P05.16 to 18

first. The analog torque command processing section performs the A/D conversion on analog voltage from the upper controller

and this signal is converted to equivalent digital torque command. Meanwhile, set the filter to eliminate the noise.

When P03.00 is set to 0, set the digital speed command value in P03.25.

When P03.00 is set to 2, the digital setting and analog setting can be switched over via DI function CMD_SEL.

Relevant parameters:

P03 22 Torque instruction source 0: Digital setting of P03.25;

1: TQR;

2: Digital setting, TQR switchover (CMD_SEL);

3: Communication setting;

4: TQR+ Digital setting.

P03 25 Torque instruction digital setting -300.0%~300.0% (relative to motor rated torque)

value

The relevant parameters for analog input are the same as speed control mode.
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2. Speed limit function at torque control

In the torque control mode, the speed control circuit is disconnected, so the speed must be limited to prevent accidents. The

speed limit function is to limit the motor rotation speed within a specified range. When the motor speed exceeds the speed

limit value, the actual torque instruction is no longer equal to the torque command, but is equal to the output of the speed limit

regulator. The speed limit value can be set by P03.27 and P03.28, or analog input SPL. The final speed limit must not exceed

the maximum motor speed.

Relevant parameters:

P03 26 Speed limit source in torque control 0: Internal positive/negative speed limit P03.27 and P3.28

1: SPL

P03 27 Internal positive speed limit 0rpm~9000rpm

P03 28 Internal negative speed limit 0rpm~9000rpm

The relevant parameters for analog input is same as speed control mode.

6.4 Motion control functions

6.4.1 Internal position control

1. Description

In position control mode, you can give the commands by external pulse, also can select drive internal command. You can set

the number of commands, operation speed and acceleration/deceleration time easily.

Figure 6-4 Block diagram of internal position control

The internal position control, like the external pulse instruction, is regulated by the electronic gear and position instruction filter

and can receive the deviation counter clear signal. It can output positioning completion signal after positioning completed and

can configure pulse division frequency output.

The unit of internal position control is the user command unit, not the unit of encoder inside the drive (min resolution of the

encoder). So it is necessary to set the corresponding electronic gear ratio. For example, if the number of pulses per encoder

one revolution is Penc and the number of pulses per one revolution user expecting is Puser, the electronic gear ratio should be:

Penc/Puser.

Internal position control can set up to 16 multi-stage commands and different operation speed and acceleration/ deceleration

time can be set for each stage. There is sequential operation pattern and random operation pattern that is to execute certain

stage position instructions sequentially or randomly. The relative or absolute instruction can be configured, that is the
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increment relative to the current position or absolute position relative to the origin point for each stage.

For sequential operation pattern, the start-stage number and end-stage number can be set, starting from the start-stage,

ending at the end-stage. There are single operation and cycle operation to be selected. For the single operation, after the

end-stage completes, the command stops. For the cycle operation, after the end-stage completes, the command starts from

the start-stage and only stop until user stops the operation. Furthermore, you can set the waiting time between the stages.

For random operation pattern, you can select the state to be executed via DI terminal input signal or communication setting.

When select stage number via DI terminal, up to 4 DI terminals can be selected and DI terminals 6, 7, 8, 9 can be configured.

For details, refer to Table 6-1. The shaded cells in the table indicates that the corresponding DI terminal input signal is valid.

The cells without shade indicates the corresponding input signal is invalid.

The operation process of internal position control is shown in Figure 6-6. Notes: When using the internal position control, after

the servo ON, it is necessary to input internal multi-stage position signal (DI function 25) via DI to give the enable position

instruction.

Table 6-1 Stage No. of internal multi- stage position DI switchover (the DI input in valid at the shaded area)

The shaded areas are the number of position command for each stage.

Δt1, Δt2, Δt4, Δt5 are the acceleration/ deceleration times for each stage.

Δt3 is the waiting time between stages.

Figure 6-5 internal position control operation diagram

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Figure 6-6 Operation process of internal multi-stage position instruction (Sequential operation is on the left-side and random

operation on the right-side)

2. Parameters

Set the following parameters when using internal position control. For details, refer to Table 6-2 and 6-3.

Table 6-2 Parameters for internal multi-stage position instructions

P08.00 Internal position execution 0: Single operation

pattern selection 1: Cycle operation

2: DI terminal switchover operation

3: Communication switchover operation

4: Single continuous operation

5: Cycle continuous operation

P08.01 Starting stage number The value of P08. 01 should be less than P08. 02. When P08.01 cannot be

greater, change the P08.02 to the maximum expected value, and then

modify P08. 01.

P08.02 Ending stage number The value of P08.02 should be greater than P08.01.

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P08.03 Restarting pattern of residual 0: Finish the residual stages

stages after pausing 1: Operate from the start stage again

P08.04 Position instruction type 0: Relative position instruction

selection 1: Absolute position instruction

P08.05 Unit for waiting time 0: ms

1: s
st
P08.06 Internal position control 1 Unit: user command unit.

stage length (32-bit)

P08.08 Internal position control 1st Unit: RPM

stage max speed

P08.09 Internal position control 1st Unit: ms

stage

acceleration/deceleration time

P08.10 Waiting time after internal The unit is decided by P08. 05.
st
position control 1 stage

completed

The parameters of P08.06 to P08.10 are the number of position instruction pulse, operation speed, acceleration/deceleration

time and waiting time after completion for the 1st stage. The other stages are similar to the 1st stage.

Table 6-3 DI DO function of internal position control

DI function 25 Internal multi-stage position instruction enabling signal, must be configured.

DI function 6 Switch 16 stages command and must be configured when P08. 00 is set to 2.

DI function 7 DI function 6, 7, 8 and 9 are respectively composed of 4-bit binary Bit0 to Bit3. The binary is 1

DI function 8 when DI function is valid; the binary is 0 when DI function is invalid. Correspondingly, 4-bit binary

DI function 9 0000~1111 corresponds to 1st stage to 16th stage respectively.

6.4.2 Interrupt positioning

Outline:

Interrupt positioning is also a type of internal position control. In position control mode, you can interrupt the position

instruction that is being executed (external pulse instruction or internal position control) at any time and execute the position

instruction specified by user. For details, refer to Figure 6-7.

The thin line in the following figure represents the position instruction that is being executing. Interrupt positioning triggers

when reached t1. The bold line represents the execution of interrupt positioning command. The shaded area is the position

instruction length of interrupt positioning.

Δt1,Δt 2,Δt3,Δt4 are the acceleration/deceleration time of interrupt positioning.

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Figure 6-7 Operation of interrupt positioning command

Figure 6-8 Operation of interrupt positioning

Set the following parameters and DI terminal when using interrupt positioning. If necessary, there are two DO function outputs

that can be used to monitor the process of the interrupt positioning. For the parameters of position instruction counts and

acceleration/ deceleration of interrupt positioning, 16th stage command of internal position control, refer to Table 6-4 and 6-5.

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For the operation process, refer to Figure 6-8.

Table 6-4 Parameters of interrupt positioning

P08.81 Internal position control 16th stage Unit: User defines. Set the command length of interrupt positioning.

length (32-bit)

P08.83 Internal position control 16th stage Unit; RPM, Set the operation speed at interrupt positioning.

max speed

P08.84 Internal position control 16th stage Unit: ms. Set the acceleration/deceleration time of interrupt positioning.

acceleration/deceleration time

P08.86 Interrupt positioning setting 0: Disable interrupt positioning function;

1: Enable, interrupt at DI signal rising edge and release the interrupt

automatically after completion.

2: Enable, interrupt at DI signal rising edge and release the interrupt via

DI signal INTP_ULK (DI function 26).

3: Enable, interrupt at DI signal falling edge and release the interrupt

automatically after completion.

4: Enable, interrupt at DI signal falling edge and release the interrupt via

DI signal INTP_ULK (DI function 26).

P04.08 DI 8 function setting The trigger signal for interrupt positioning can only be enabled via DI 8 or

DI 9

P04.09 DI 9 function setting The trigger signal for interrupt positioning can only be enabled via DI 8 or

DI 9

Table 6-5 DI DO function of interrupt positioning

DI function 34 Enable interrupt positioning and must be configured to DI8 or DI9

DI function 26 Unlock interrupt positioning. When P08. 86 is set to 2 or 4, it can be configured to any DI terminal.

DI function 27 Prohibit interrupt positioning at any time, optional, can be configured to any DI terminal.

DO function 15 Valid when interrupt positioning complete, optional, can be configured to any DO terminal.

DO function 18 Valid when executing interrupt positioning, optional, can be configured to any DO terminal.

6.4.3 Homing operation

1. Description

The servo drive has built-in homing function and supports multiple homing types. Homing can be realized independently and

can also be achieved with upper controllers.

Take the limit position as the origin point, please refer to Figure 6-9. Based on the actual needs, you can choose whether to

find Z-phase signal, which can help realize different ways of homing.

For the situation with origin point sensor, refer to Figure 6-10. Here are some selections: The positive search and negative

search at the start position will make the difference; For the home position sensor signal, using the rising edge or the falling

edge will also lead to a different home position; In addition, you should set whether to use the Z-phase pulse signal, and the

direction of the Z-phase pulse signal search (After finding home position sensor signal, finding Z-phase pulse signal forward or

backward will also lead to a different home position).

When using Z-phase pulses, different directions to find Z-phase pulses will find different home position. For details, refer to

Figure 6-11.

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Figure 6-9 Take limit position as origin

Figure 6-10 With home position sensor

Figure 6-11 Search Z-phase pulse signal forward or backward

2. Parameters

Table 6-6 related parameters for home position return

P08.88 Homing start modes 0: OFF

1: Start by STHOME via DI function

2: Start by operation panel

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3: Start by communication

4: Immediate start at first servo ON

P08.89 Homing modes 0: Forward origin search, take positive limit as origin

1: Backward origin search, take negative limit as origin

2: Forward origin search, take HOME_I N signal OFF→ON as origin

3: Backward origin search, take HOME_I N signal OFF→ON as origin

4: Forward origin search, take HOME_I N signal ON→OFF as origin

5: Backward origin search, take HOME_I N signal ON→OFF as origin

6: Forward, find the nearest Z-phase signal as origin

7: Backward, find the nearest Z-phase signal as origin

8: Take the present position as origin

P08.90 Limit switch and Z-phase 0: Reverse to find Z-phase signal after contacting limit switch;

signal setting at homing 1: Forward to find Z-phase signal after contacting limit switch;

2: Not find Z-phase signal after contacting limit switch;

3: Stop & output alarm after contacting limit switch, reverse to find Z-phase signal

4: Stop & output alarm after contacting limit switch, forward to find Z-phase signal

5: Stop & output alarm after contacting limit switch, not to find Z-phase signal

Note: For contacting limit switch, if the homing modes is set to 0 to 1, no alarm or

stop even though this parameter is set to 3, 4 or 5.

If homing modes is set to 0 to 1, find Z-phase signal after contacting limit switch;

If homing modes is set to 2 to 5, find Z-phase signal after contacting HOME_IN

signal.

P08.92 Origin search high speed Start with this speed when homing starts

P08.93 Origin search low speed Switch to low speed after contacting origin point or deceleration point

P08.94 Acceleration/deceleration Set the acceleration/deceleration time at the start/ stop of origin search. Unit: ms.

time at origin search

P08.95 Homing time limit Limit the longest time of homing. If origin point is still not found after the time set in

P08.95, AL.96 occurs and operation stops.

P08.96 Origin point coordinate The absolute position counter will be cleared after finding the origin point or set the

offset absolute position counter to the value of this parameter.

P08.98 Mechanical origin point System can move further in the distance set in this parameter after origin point is

offset found.

Table 6-7 Related DI DO functions at home position return

DI function 29 Homing start, must be set and can be configured to any DI terminal

DI function 28 Origin point signal, when P08.89= 2, 3, 4, 5, must be set and can be configured to any DI terminal

DI function 33 Deceleration point sensor signal, optional, but it is not necessary in most occasions.

DO function 17 Homing completion signal and can be configured to any DO terminal.

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7. Parameters

7.1 List of parameters

Control modes: ● means applicable

P: position control - means not applicable

S: speed control

T: torque control

Parameter Control mode

Description
number P S T

00 Motor positive direction definition ● ● ●

01 Control mode selection ● ● ●

02 Real time auto-tuning ● ● ●

03 Stiffness grade setting ● ● ●

04 Load inertia ratio ● ● ●

05 Position instruction source ● ● ●

07 Pulse train form ● - -

08 Instruction units per motor one revolution (32-bit) ● - -

P00 Group Basic Parameters

10 Electronic gear numerator 1 (32-bit) ● - -

12 Electronic gear denominator (32-bit) ● - -

14 Pulse output counts per motor one revolution (32-bit) ● - -

16 Pulse output positive direction definition ● ● ●

17 Pulse output OUT_Z polarity ● - -

18 Pulse output function selection ● - -

19 Position deviation too large threshold ● ● ●

21 Regenerative resistor setting ● ● ●

22 External regenerative resistor capacity ● ● ●

23 External regenerative resistor resistance value ● ● ●

24 External regenerative resistor heating time constant ● ● ●

25 Regenerative voltage threshold ● ● ●

26 Step value setting ● - -

27 High pulse train form ● - -

Parameter Control mode

Description
number P S T

00 Position loop gain 1 ● - -

Gain Tuning

Parameters
P01 Group

01 Speed loop gain 1 ● ● -

02 Speed loop integral time 1 ● ● -

03 Speed detection filter 1 ● ● ●

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04 Torque instruction filter 1 ● ● ●

05 Position loop gain 2 ● - -

06 Speed loop gain 2 ● ● -

07 Speed loop integral time 2 ● ● -

08 Speed detection filter 2 ● ● ●

09 Torque instruction filter 2 ● ● ●

10 Speed regulator PDFF coefficient ● ● -

11 Speed feedforward control selection ● - -

12 Speed feedforward gain ● - -

13 Speed feedforward filtering time ● - -

14 Torque feedforward control selection ● ● -

15 Torque feedforward gain ● ● -

16 Torque feedforward filtering time ● ● -

17 Digital input GAIN_SEL function selection ● ● -

18 Position control gain switchover mode ● ● -

19 Position control gain switchover delay ● ● -

20 Position control gain switchover class ● ● -

21 Position control gain switchover hysteresis ● ● -

22 Position control gain switchover time ● ● -

23 Speed control gain switchover mode ● ● -

24 Speed control gain switchover delay ● ● -

25 Speed control gain switchover class ● ● -

26 Speed control gain switchover hysteresis ● ● -

27 Torque control gain switchover mode ● ● -

28 Torque control gain switchover delay ● ● -

29 Torque control gain switchover class ● ● -

30 Torque control gain switchover hysteresis ● ● -

31 Observer enable ● ● ●

32 Observer cutoff frequency ● ● ●

33 Observer phase compensation time ● ● ●

34 Observer inertia coefficient ● ● ●

Parameter Control mode

Description
number P S T

00 Position instruction smoothing filter ● - -

Suppression Parameters

01 Position instruction FIR filter ● - -

P02 Group Vibration

02 Adaptive filtering mode ● ● ●

03 Adaptive filtering loads ● ● ●

04 First notch filter frequency (manual) ● ● ●

05 First notch filter width ● ● ●

06 First notch filter depth ● ● ●

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07 Second notch filter frequency (manual) ● ● ●

08 Second notch filter width ● ● ●

09 Second notch filter depth ● ● ●

10 Third notch filter frequency ● ● ●

11 Third notch filter width ● ● ●

12 Third notch filter depth ● ● ●

13 Fourth notch filter frequency ● ● ●

14 Fourth notch filter width ● ● ●

15 Fourth notch filter depth ● ● ●

19 Position instruction FIR filter 2 ● - -

20 First vibration attenuation frequency ● ● -

21 First vibration attenuation filter setting ● ● -

22 Second vibration attenuation frequency ● ● -

23 Second vibration attenuation filter setting ● ● -

31 Resonance point 1 frequency ● ● ●

32 Resonance point 1 bandwidth ● ● ●

33 Resonance point 1 amplitude ● ● ●

34 Resonance point 2 frequency ● ● ●

35 Resonance point 2 bandwidth ● ● ●

36 Resonance point 2 amplitude ● ● ●

Parameter Control mode

Description
number P S T

00 Speed instruction source selection - ● -

03 Speed instruction digital setting - ● -

04 JOG speed setting - ● -

08 Torque limit source ● ● ●

09 Internal forward torque limit ● ● ●

P03 Group Speed & Torque Control Parameters

10 Internal reverse torque limit ● ● ●

11 External forward torque limit ● ● ●

12 External reverse torque limit ● ● ●

14 Acceleration time 1 - ● ●

15 Deceleration time 1 - ● ●

16 Acceleration time 2 - ● -

17 Deceleration time 2 - ● -

19 Zero-speed clamp function - ● ●

20 Zero-speed clamp threshold value - ● ●

22 Torque instruction source - - ●

25 Torque instruction digital setting value - - ●

26 Speed limit source in torque control - - ●

27 Internal positive speed limit - - ●

28 Internal negative speed limit - - ●

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31 Internal speed instruction segment number selection mode - ● -

32 Acceleration time selection for internal speed segment 1-8 - ● -

33 Deceleration time selection for internal speed segment 1-8 - ● -

34 Acceleration time selection for internal speed segment 9-16 - ● -

35 Deceleration time selection for internal speed segment 9-16 - ● -

36 Segment 1 speed - ● -

37 Segment 2 speed - ● -

38 Segment 3 speed - ● -

39 Segment 4 speed - ● -

40 Segment 5 speed - ● -

41 Segment 6 speed - ● -

42 Segment 7 speed - ● -

43 Segment 8 speed - ● -

44 Segment 9 speed - ● -

45 Segment 10 speed - ● -

46 Segment 11 speed - ● -

47 Segment 12 speed - ● -

48 Segment 13 speed - ● -

49 Segment 14 speed - ● -

50 Segment 15 speed - ● -

51 Segment 16 speed - ● -

Parameter Control mode

Description
number P S T

00 Normal DI filter selection ● ● ●

01 DI1 terminal function selection ● ● ●

02 DI2 terminal function selection ● ● ●

03 DI3 terminal function selection ● ● ●

04 DI4 terminal function selection ● ● ●

P04 Group Digital Input/output Parameters

05 DI5 terminal function selection ● ● ●

06 DI6 terminal function selection ● ● ●

07 DI7 terminal function selection ● ● ●

08 DI8 terminal function selection ● ● ●

09 DI9 terminal function selection ● ● ●

11 DI1 terminal logic selection ● ● ●

12 DI2 terminal logic selection ● ● ●

13 DI3 terminal logic selection ● ● ●

14 DI4 terminal logic selection ● ● ●

15 DI5 terminal logic selection ● ● ●

16 DI6 terminal logic selection ● ● ●

17 DI7 terminal logic selection ● ● ●

18 DI8 terminal logic selection ● ● ●

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19 DI9 terminal logic selection ● ● ●

21 DO1 terminal function selection ● ● ●

22 DO2 terminal function selection ● ● ●

23 DO3 terminal function selection ● ● ●

24 DO4 terminal function selection ● ● ●

25 DO5 terminal function selection ● ● ●

26 DO6 terminal function selection ● ● ●

27 DO7 terminal function selection ● ● ●

28 DO8 terminal function selection ● ● ●

29 DO9 terminal function selection ● ● ●

31 DO1 terminal logic selection ● ● ●

32 DO2 terminal logic selection ● ● ●

33 DO3 terminal logic selection ● ● ●

34 DO4 terminal logic selection ● ● ●

35 DO5 terminal logic selection ● ● ●

36 DO6 terminal logic selection ● ● ●

37 DO7 terminal logic selection ● ● ●

38 DO8 terminal logic selection ● ● ●

39 DO9 terminal logic selection ● ● ●

41 FUNINL signal unassigned state (Hex) ● ● ●

42 FUNINH signal unassigned state (Hex) ● ● ●

43 Motor rotational signal (TGON) threshold ● ● ●

44 Speed conformity signal (V_CMP) width - ● -

45 Speed reached signal (V_ARR) width ● ● ●

47 Positioning completion (COIN) threshold ● - -

48 Positioning completion output setting ● - -

49 Positioning completion holding time ● - -

50 Positioning near (NEAR) threshold ● - -

51 Servo OFF delay time after holding brake taking action when speed is 0 ● ● ●

52 Speed setting for holding brake to take action in motion ● ● ●

53 Waiting time for holding brake to take action in motion ● ● ●

54 Special output function setting ● ● ●

55 Torque reached (T_ARR) threshold ● ● ●

56 Torque reached signal width ● ● ●

57 Z-phase pulse width adjustment ● ● ●

58 Zero-speed output threshold ● ● ●

Parameter Control mode

Description
number P S T

00 AI1 minimum input ● ● ●

outpu
Input/
g

01 Corresponding value of AI1 minimum input ● ● ●

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02 AI1 maximum input ● ● ●

03 Corresponding value of AI1 maximum input ● ● ●

04 AI1 zero offset ● ● ●

05 AI1 dead-zone setting ● ● ●

06 AI1 input filtering time ● ● ●

07 AI2 minimum input ● ● ●

08 Corresponding value of AI2 minimum input ● ● ●

09 AI2 maximum input ● ● ●

10 Corresponding value of AI2 maximum input ● ● ●

11 AI2 zero offset ● ● ●

12 AI2 dead-zone setting ● ● ●

13 AI2 input filtering time ● ● ●

14 AI setting 100% speed ● ● ●

15 AI setting 100% torque ● ● ●

16 AI1 function selection ● ● ●

17 AI2 function selection ● ● ●

28 AO1 signal selection (need optional card) ● ● ●

29 AO1 voltage offset ● ● ●

30 AO1 multiplier ● ● ●

31 AO2 signal selection (need optional card) ● ● ●

32 AO2 voltage offset ● ● ●

33 AO2 multiplier ● ● ●

34 AO monitoring value types ● ● ●

Parameter Control mode

Description
number P S T

00 Electronic gear numerator 2(32-bit) ● - -

02 Electronic gear numerator 3(32-bit) ● - -

04 Electronic gear numerator 4(32-bit) ● - -

06 Position deviation clearance function ● - -

09 Electronic gear ratio switchover delay ● - -

P06 Group Expansion Parameters

10 Potential energy load torque compensation ● ● -

11 P06.10 memory selections ● ● -

19 Parameter identification rate ● ● -

20 Parameter identification acceleration time ● ● -

21 Parameter identification deceleration time ● ● -

22 Parameter identification mode selection ● ● -

23 Initial angle identification current limit ● ● ●

24 Instantaneous power failure protection ● ● ●

25 Instantaneous power failure deceleration time ● ● ●

26 Servo OFF stop mode selection ● ● ●

27 Second category fault stop mode selection ● ● ●

28 Over-travel input setting ● ● ●

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29 Over-travel stop mode selection ● ● ●

30 Input power phase loss protection ● ● ●

31 Output power phase loss protection ● ● ●

32 Emergency stop torque ● ● ●

33 Tripping protection function ● ● ●

34 Overload warning value ● ● ●

35 Motor overload protection coefficient ● ● ●

36 Undervoltage protection point ● ● ●

37 Over-speed error point ● ● ●

38 Maximum input pulse frequency ● - -

39 Short circuit to ground detection protection selection ● ● ●

40 Encoder interference detection delay ● ● ●

41 Input pulse filtering setting ● - -

42 Input pulse inhibition setting ● - -

43 Deviation clearance input setting ● - -

44 High speed DI filtering setting ● ● ●

45 Speed deviation too large threshold ● ● -

46 Torque saturation overtime setting ● ● ●

47 Absolute system setting ● ● ●

48 Encoder battery undervoltage threshold ● ● ●

49 High pulse input filter ● ● ●

Parameter Control mode

Description
number P S T

00 Panel display selection ● ● ●

01 Panel monitoring parameter setting 1 ● ● ●

02 Panel monitoring parameter setting 2 ● ● ●

03 Panel monitoring parameter setting 3 ● ● ●

04 Panel monitoring parameter setting 4 ● ● ●

05 Panel monitoring parameter setting 5 ● ● ●

P07 Group Auxiliary function Parameters

08 Function selection 1 ● ● ●

09 Function selection 2 ● ● ●

10 User password ● ● ●

11 Instant power failure immediate memory function ● ● ●

12 User password screen-lock time ● ● ●

14 Fast deceleration time ● ● ●

16 Function selection 3 ● ● ●

17 Maximum division number pre motor one revolution ● - -

19 Function selection 5 ● ● ●

20 Function selection 6 ● ● ●

21 Function selection 7 ● ● ●

22 Function selection 8 ● ● ●

23 Alarm reset time ● ● ●

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24 Positive soft-limit(32-bit) ● ● ●

26 Negative soft-limit(32-bit) ● ● ●

Parameter Control mode

Description
number P S T

00 Internal position execution pattern selection ● - -

01 Starting stage number ● - -

02 Ending stage number ● - -

03 Restarting pattern of residual stags after pausing ● - -

04 Position instruction type selection ● - -

05 Unit for waiting time ● - -

st
06 Internal position control 1 stage length (32-bit) ● - -
st
08 Internal position control 1 stage max speed ● - -
st
09 Internal position control 1 stage acceleration/deceleration time ● - -
st
10 Waiting time after internal position control 1 stage completed ● - -
nd
11 Internal position control 2 stage length (32-bit) ● - -
nd
13 Internal position control 2 stage max speed ● - -
nd
14 Internal position control 2 stage acceleration/deceleration time ● - -
nd
15 Waiting time after internal position control 2 stage completed ● - -
P08 Group Internal Position Control Parameters

nd
16 Internal position control 2 stage length (32-bit) ● - -
rd
18 Internal position control 3 stage max speed ● - -
rd
19 Internal position control 3 stage acceleration/deceleration time ● - -
rd
20 Waiting time after internal position control 3 stage completed ● - -
th
21 Internal position control 4 stage length (32-bit) ● - -
th
23 Internal position control 4 stage max speed ● - -
th
24 Internal position control 4 stage acceleration/deceleration time ● - -
th
25 Waiting time after internal position control 4 stage completed ● - -

26 Internal position control 5th stage length (32-bit) ● - -

28 Internal position control 5th stage max speed ● - -

29 Internal position control 5th stage acceleration/deceleration time ● - -

30 Waiting time after internal position control 5th stage completed ● - -

31 Internal position control 6th stage length (32-bit) ● - -

33 Internal position control 6th stage max speed ● - -

34 Internal position control 6th stage acceleration/deceleration time ● - -

th
35 Waiting time after internal position control 6 stage completed ● - -
th
36 Internal position control 7 stage length (32-bit) ● - -
th
38 Internal position control 7 stage max speed ● - -
th
39 Internal position control 7 stage acceleration/deceleration time ● - -
th
40 Waiting time after internal position control 7 stage completed ● - -
th
41 Internal position control 8 stage length (32-bit) ● - -
th
43 Internal position control 8 stage max speed ● - -
th
44 Internal position control 8 stage acceleration/deceleration time ● - -

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45 Waiting time after internal position control 8th stage completed ● - -
th
46 Internal position control 9 stage length (32-bit) ● - -
th
48 Internal position control 9 stage max speed ● - -
th
49 Internal position control 9 stage acceleration/deceleration time ● - -
th
50 Waiting time after internal position control 9 stage completed ● - -
th
51 Internal position control 10 stage length (32-bit) ● - -
th
53 Internal position control 10 stage max speed ● - -
th
54 Internal position control 10 stage acceleration/deceleration time ● - -
th
55 Waiting time after internal position control 10 stage completed ● - -
th
56 Internal position control 11 stage length (32-bit) ● - -
th
58 Internal position control 11 stage max speed ● - -
th
59 Internal position control 11 stage acceleration/deceleration time ● - -
th
60 Waiting time after internal position control 11 stage completed ● - -
th
61 Internal position control 12 stage length (32-bit) ● - -
th
63 Internal position control 12 stage max speed ● - -
th
64 Internal position control 12 stage acceleration/deceleration time ● - -
th
65 Waiting time after internal position control 12 stage completed ● - -
th
66 Internal position control 13 stage length (32-bit) ● - -
th
68 Internal position control 13 stage max speed ● - -
th
69 Internal position control 13 stage acceleration/deceleration time ● - -
th
70 Waiting time after internal position control 13 stage completed ● - -
th
71 Internal position control 14 stage length (32-bit) ● - -

73 Internal position control 14th stage max speed ● - -

74 Internal position control 14th stage acceleration/deceleration time ● - -

75 Waiting time after internal position control 14th stage completed ● - -

76 Internal position control 15th stage length (32-bit) ● - -

78 Internal position control 15th stage max speed ● - -

79 Internal position control 15th stage acceleration/deceleration time ● - -

80 Waiting time after internal position control 15th stage completed ● - -

th
81 Internal position control 16 stage length (32-bit) ● - -
th
83 Internal position control 16 stage max speed ● - -
th
84 Internal position control 16 stage acceleration/deceleration time ● - -
th
85 Waiting time after internal position control 16 stage completed ● - -

86 Interrupt positioning setting ● - -

88 Homing start modes ● - -

89 Homing modes ● - -

90 Limit switch and Z-phase signal setting at homing ● - -

92 Origin search high speed ● - -

93 Origin search low speed ● - -

94 Acceleration/deceleration time at origin search ● - -

95 Homing time limit ● - -

96 Origin point coordinate offset (32-bit) ● - -

98 Mechanical origin point offset (32-bit) ● - -

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Parameter Control mode

Description
number P S T

00 Modbus axis address ● ● ●

01 Modbus baud rate ● ● ●

02 Modbus data format ● ● ●

P09 Group Communication Setting Parameters

03 Communication overtime ● ● ●

04 Communication response delay ● ● ●

05 Communication DI enabling setting 1 ● ● ●

06 Communication DI enabling setting 2 ● ● ●

07 Communication DI enabling setting 3 ● ● ●

08 Communication DI enabling setting 4 ● ● ●

09 Communication DO enabling setting 1 ● ● ●

10 Communication DO enabling setting 2 ● ● ●

11 Communication instruction holding time ● ● ●

12 Enable AO function or CAN communication ● ● ●

13 CAN communication configuration 1 ● ● ●

14 CAN communication configuration 2 ● ● ●

15 CAN communication configuration 3 ● ● ●

Control mode
Parameter number Description
P S T

00 External encoder using method ● - -

01 External encoder pitch(32-bit) ● - -

03 Full-closed hybrid deviation threshold(32-bit) ● - -

05 Hybrid deviation counting setting ● - -

P17 Group Expansion position control function

06 Hybrid vibration suppression gain ● - -

07 Hybrid vibration suppression time constant ● - -

09 Full-closed hybrid deviation external unit(32-bit) ● - -

11 Internal encoder counting external unit(32-bit) ● - -

13 External encoder counting value(32-bit) ● - -

16 Position comparison output mode ● - -

17 First position(32-bit) ● - -

19 2nd position(32-bit) ● - -

21 3rd position(32-bit) ● - -

th
23 4 position(32-bit) ● - -

25 Effective time 1 ● - -

26 Effective time 2 ● - -

27 Effective time 3 ● - -

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28 Effective time 4 ● - -

29 Display delay ● - -

Control mode
Parameter number Description
P S T

P18 Group Motor Parameters 00 Motor model code ● ● ●

Parameter Control mode

Description
number P S T

00 Panel JOG ● ● ●
P20 Group Panel and Communication

01 Fault reset ● ● ●

03 Parameter identification function ● ● ●

Interface Parameters

05 Analog input automatic offset adjustment ● ● ●

06 System initialization function ● ● ●

08 Communication operation instruction input - - -

09 Communication operation status output ● ● ●

10 Communication setting DI input ● ● ●

11 Multi-stage operation selection by communication ● ● -

12 Homing start by communication ● - -

Parameter Control mode

Description
number P S T

00 Servo status ● ● ●

01 Motor speed feedback ● ● ●

03 Speed instruction ● ● ●

04 Internal torque instruction (relative to rated torque) ● ● ●

05 Phase current effective value ● ● ●

P21 Group Monitoring Parameters

06 DC bus voltage ● ● ●

07 Absolute position counter (32-bit) ● ● ●

09 Electrical angle ● ● ●

10 Mechanical angle (relative to encoder zero point) ● ● ●

11 Load inertia identification value ● ● ●

12 Speed value relative to input instruction ● ● ●

13 Position deviation counter (32-bit) ● ● ●

15 Input pulse counter (32-bit) ● ● ●

17 Feedback pulse counter (32-bit) ● ● ●

19 Position instruction deviation counter unit (32-bit) ● ● ●

21 Digital input signal monitoring ● ● ●

23 Digital output signal monitoring ● ● ●

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25 Total power-on time ● ● ●

27 AI 1 voltage after adjustment ● ● ●

28 AI 2 voltage after adjustment ● ● ●

29 AI 1 voltage before adjustment ● ● ●

30 AI 2 voltage before adjustment ● ● ●

31 Module temperature ● ● ●

32 Number of turns of absolute encoder (32-bit) ● ● ●

34 Single turn position of absolute encoder (32-bit) ● ● ●

36 Version code 1 ● ● ●

37 Version code 2 ● ● ●

38 Version code 3 ● ● ●

39 Product series code ● ● ●

40 Fault record display ● ● ●

41 Fault code ● ● ●

42 Time stamp upon selected fault (32-bit) ● ● ●

44 Motor speed upon selected fault ● ● ●

45 U-phase current upon selected fault ● ● ●

46 V-phase current upon selected fault ● ● ●

47 DC bus voltage upon selected fault ● ● ●

48 Input terminal status upon selected fault ● ● ●

49 Output terminal status upon selected fault ● ● ●

51 Accumulative load ratio ● ● ●

52 Regenerative load ratio ● ● ●

53 Internal warning code ● ● ●

54 Internal instruction present stage code ● ● ●

55 Customized serial code ● ● ●

56 High 32 place of absolute position counter (32-bit) ● ● ●

58 High 32 place of feedback pulse counter (32-bit) ● ● ●

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7.2 Parameter descriptions

 P00 Group Basic Parameters

Range Default Unit Effective Control Mode

P00.00 Motor positive direction definition
0~1 0 - Restart P S T

This parameter is to set the relation between instruction direction and motor rotational direction:

0: When the instruction is positive, motor rotational direction is CCW (counterclockwise from facing the motor shaft)

1: When the instruction is positive, motor rotational direction is CW (clockwise from facing the motor shaft)

Range Default Unit Effective Control Mode

P00.01 Control mode selection
0~7 0 - Restart P S T

0: Position control mode;

1: Speed control mode;

2: Torque control mode;

3: Position/Speed control gain switchover;

4: Position/Torque control gain switchover;

5: Speed/Torque control gain switchover;

6: Fully closed-loop control mode(reserved)

7:CANOpen mode

When selecting 3~5, use MODE_SEL of DI to switchover. When MODE_SEL is 0 the control mode is the 1st mode; when 1,

the2nd one. When using CANOpen or Ether CAT communication, the control mode is the 7th one.

Range Default Unit Effective Control Mode

P00.02 Real time auto-tuning
0~3 1 - Immediate P S T

0: Real time auto-tuning is invalid;

1: Standard auto-tuning without gain switchover;

2: Positioning mode with gain switchover, suitable for position control;

3: Load characteristics dynamic detection,

Range Default Unit Effective Control Mode

P00.03 Stiffness grade setting
0~31 12 - Immediate P S T

Set the response while the real-time auto-tuning is valid.

The parameter becomes valid when P00. 02=1 or 2; Invalid when P00. 02=0.

When P00. 02=1, stiffness grade can be changed.

When P00. 02=2, gain switchover is enabled and P01. 18 automatically changes to 10.

The larger this parameters is, the wider the servo control circuit bandwidth is, and the faster response is but this can also

cause larger vibrations. Please adjust this parameter from low to high gradually when the instruction is 0.

Range Default Unit Effective Control Mode

P00.04 Load inertia ratio
0~6000 100 0.01 Immediate P S T

This is the ratio of load inertia to motor rotor inertia.

Range Default Unit Effective Control Mode

P00.05 Position instruction source
0~3 0 - Restart P S T

0: Pulse instruction

1: Step value instruction

2: Internal position control

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3: High-speed pulse instruction (including PG models), can receive the external high-speed pulse instruction

Range Default Unit Effective Control Mode

P00.07 Pulse train form
0~5 0 - Restart P

0: Direction + pulse, positive logic (Default)

1: Direction + pulse, negative logic

2: A-phase + B-phase, positive logic

3: A-phase + B-phase, negative logic

4: CW+CCW, positive logic

5: CW+CCW, negative logic

Instruction units per motor one Range Default Unit Effective Control Mode
P00.08
revolution (32-bit) 0~1073741824 10000 1Unit Restart P

This is to set the instruction units (number of pulses) needed for motor one revolution.

0: this parameter is invalid and user needs to set electronic gear ratio;

Other values: this parameter is valid and user no need to set electronic gear ratio.

Range Default Unit Effective Control Mode

P00.10 Electronic gear numerator 1 (32-bit)
0~1073741824 0 - Immediate P

The condition of this parameter to be functional: P00.08=0.

Range Default Unit Effective Control Mode

P00.12 Electronic gear denominator (32-bit)
1~1073741824 10000 - Immediate P

The condition of this parameter to be functional: P00.08=0.

Output pulse counts per motor one Range Default Unit Effective Control Mode
P00.14
revolution (32-bit) 16~1073741824 2500 1PPR Restart P

The number of OUTA or OUTB per motor one revolution.

Pulse output positive direction Range Default Unit Effective Control Mode
P00.16
definition 0~1 0 - Restart P S T

0: CCW. When motor rotational direction is CCW, OUTA is before OUTB;

1: CW. When motor rotational direction is CW, OUTA is before OUTB.

Range Default Unit Effective Control Mode

P00.17 Pulse output OUT_Z polarity
0~1 0 - Restart P

0: OUT_Z is high electric level;

1: OUT_Z is low electric level.

2: High accuracy, OUT_Z is high electric level;

3: High accuracy, OUT_Z is low electric level

Range Default Unit Effective Control Mode

P00.18 Pulse output function selection
0~1 0 - Restart P

0: Encoder frequency division output;

1: Pulse instruction synchronous output.

2: Pulse instruction interpolation output(gantry synchronization)

3: External encoder pulse synchronization output

Position deviation too large Range Default Unit Effective Control Mode
P00.19
threshold(32-bit) 1~1073741824 1000000 1P Immediate P S T

When position deviation exceeds the value of this parameter, Err.043 will output.

P00.21 Regenerative resistor setting Range Default Unit Effective Control Mode

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0~1 0 - Immediate P S T

0: Use internal regenerative resistor (100s)

1: Use external regenerative resistor and natural cooling (150s) or forced air cooling (200s)

External regenerative resistor Range Default Unit Effective Control Mode

P00.22
capacity 1~65535 100 1W Immediate P S T

External regenerative resistor Range Default Unit Effective Control Mode

P00.23
resistance value 1~1000 100 1Ω Immediate P S T

External regenerative resistor Range Default Unit Effective Control Mode

P00.24
heating time constant 1~30000 2000 0.1s Immediate P S T

Range Default Unit Effective Control Mode

P00.25 Regenerative voltage threshold
0~65535 360 - Immediate P S T

Range Default Unit Effective Control Mode

P00.26 Step value setting
-9999~9999 50 - Immediate P

Range Default Unit Effective Control Mode

P00.27 High-speed pulse train form
0~5 0 - Restart P

0: Direction + pulse, positive logic (Default)

1: Direction + pulse, negative logic

2: Phase-A (Pulse) +Phase-B(sign) orthogonal pulse, 4 multiplication, positive logic

3: Phase-A +Phase-B orthogonal pulse, 4 multiplication, negative logic

4: CW+CCW，positive logic

5: CW+CCW，negative logic

 P01 Group Gain Tuning Parameters

Range Default Unit Effective Control Mode

P01.00 Position loop gain 1
10~20000 400 0.1/s Immediate P

The larger this parameters is, the faster position loop response is but this can also cause larger vibrations.

Range Default Unit Effective Control Mode

P01.01 Speed loop gain 1
10~20000 200 0.1Hz Immediate P S

The larger this parameters is, the faster speed loop response is but this can also cause larger vibrations.

Range Default Unit Effective Control Mode

P01.02 Speed loop integral time 1
15~51200 3000 0.01ms Immediate P S

The smaller this parameters is, the smaller steady-state deviation is. If set this parameter to 51200, it becomes invalid.

Range Default Unit Effective Control Mode

P01.03 Speed detection filter 1
0~15 0 - Immediate P S T

The larger this value is, the better vibration suppression effect is; but this will reduce response bandwidth.

Range Default Unit Effective Control Mode

P01.04 Torque instruction filter 1
0~10000 100 0.01ms Immediate P S T

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This parameter is to set first order low-pass filtering time constant of torque instruction and can suppress resonances caused

by mechanical twisting.

Range Default Unit Effective Control Mode

P01.05 Position loop gain 2
10~20000 400 0.1/s Immediate P

The larger this parameters is, the faster position loop response is but this can also cause larger vibrations.

Range Default Unit Effective Control Mode

P01.06 Speed loop gain 2
10~20000 200 0.1Hz Immediate P S

The larger this parameters is, the faster speed loop response is but this can also cause larger vibrations.

Range Default Unit Effective Control Mode

P01.07 Speed loop integral time 2
15~51200 3000 0.01ms Immediate P S

The smaller this parameters is, the smaller steady-state deviation is. If set this parameter to 51200, it becomes invalid.

Range Default Unit Effective Control Mode

P01.08 Speed detection filter 2
0~15 0 - Immediate P S T

The larger this value is, the better vibration suppression effect is; but this will reduce response bandwidth.

Range Default Unit Effective Control Mode

P01.09 Torque instruction filter 2
0~10000 100 0.01ms Immediate P S T

This parameter is to set first order low-pass filtering time constant of torque instruction and can suppress resonances caused

by mechanical twisting.

Range Default Unit Effective Control Mode

P01.10 Speed regulator PDFF coefficient
0~1000 1000 0.1% Immediate P S

100.0%: PI regulator;

0.0%: PDFF regulator

Medium value: can reduce overshoot but will also reduce speed loop response.

Range Default Unit Effective Control Mode

P01.11 Speed feedforward control selection
0~1 0 - Restart P

0: no speed feedforward

1: internal speed feedforward

Range Default Unit Effective Control Mode

P01.12 Speed feedforward gain
0~1500 300 0.1% Immediate P

This parameter is to set speed feedforward gain in position control mode and can help reduce position deviations in certain

speeds.

Range Default Unit Effective Control Mode

P01.13 Speed feedforward filtering time
0~6400 50 0.01ms Immediate P

This parameter is to set speed feedforward filtering time in position control mode.

Torque feedforward control Range Default Unit Effective Control Mode

P01.14
selection 0~2 0 - Restart P S

0: No torque feedforward

1: Internal torque feedforward

2: Use TFFD as torque feedforward input

Range Default Unit Effective Control Mode

P01.15 Torque feedforward gain
0~1000 0 0.1% Immediate P S

This parameter can help reduce position deviation during acceleration/deceleration.

P01.16 Torque feedforward filtering time Range Default Unit Effective Control Mode

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0~6400 0 0.01ms Immediate P S

Digital input GAIN_SEL function Range Default Unit Effective Control Mode
P01.17
selection 0~1 0 - Immediate P S

0: Speed loop regulator P/PI switchover (Group 1 gains applicable)

1: Group 1/Group 2 gains switchover

Position control gain switchover Range Default Unit Effective Control Mode
P01.18
mode 0~10 0 - Immediate P S

0: Group 1 gains (fixed): P01.00~P01.04;

1: Group 2 gains (fixed): P01.05~P01.09;

2: Use GAIN_SEL signal to switch between Group 1 and Group 2 gains; or use speed regulator for P/PI switchover;

3: When torque instruction exceeds settings of P01.20 & P01.21, switch to Group 2; otherwise Group 1 after the time set in

P01.19. Unit: 0.1%;

4: not applicable to position control mode or fully-closed loop mode;

5: When speed instruction exceeds settings of P01.20 & P01.21, switch to Group 2; otherwise Group 1 after the time set in

P01.19. Unit: 1RPM;

6: When position deviation exceeds settings of P01.20 & P01.21, switch to Group 2; otherwise Group 1 after the time set in

P01.19. Unit: 1 encoder resolution;

7: When position instruction is not 0, switch to Group 2; when position instruction maintains 0 after the time set in P01.19,

switch to Group 1;

8: When positioning is not completed, switch to Group 2; when positioning is completed after the time set in P01.19, switch to

Group 1;

9: When speed feedback exceeds settings of P01.20 & P01.21, switch to Group 2; otherwise Group 1 after the time set in

P01.19;

10: When position instruction is not 0, switch to Group 2; when position instruction maintains 0 and speed feedback is lower

than P01.20 after the time set in P01.19, switch to Group 1.

Position control gain switchover Range Default Unit Effective Control Mode
P01.19
delay 0~1000 50 0.1ms Immediate P S

Position control gain switchover Range Default Unit Effective Control Mode
P01.20
grade 0~20000 50 - Immediate P S

Position control gain switchover Range Default Unit Effective Control Mode
P01.21
hysteresis 0~20000 33 - Immediate P S

Position control gain switchover Range Default Unit Effective Control Mode
P01.22
time 0~1000 33 0.1ms Immediate P S

Speed control gain switchover Range Default Unit Effective Control Mode
P01.23
mode 0~5 0 - Immediate S

0: Group 1 gains (fixed): P01.00~P01.04;

1: Group 2 gains (fixed): P01.05~P01.09;

2: Use GAIN_SEL signal to switch between Group 1 and Group 2 gains; or use speed regulator for P/PI switchover;

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3: When torque instruction exceeds settings of P01.25 & P01.26, switch to Group 2; otherwise Group 1 after the time set in

P01.24, unit 0.1%;

4: When speed instruction variation exceeds settings of P01.25 & P01.26, switch to Group 2; otherwise Group 1 after the time

set in P01.24, unit 10rpm;

5: When speed instruction exceeds settings of P01.25 & P01.26, switch to Group 2; otherwise Group 1 after the time set in

P01.24, unit 1rpm

Speed control gain switchover Range Default Unit Effective Control Mode
P01.24
delay 0~1000 0 0.1ms Immediate S

Speed control gain switchover Range Default Unit Effective Control Mode
P01.25
grade 0~20000 0 - Immediate S

Speed control gain switchover Range Default Unit Effective Control Mode
P01.26
hysteresis 0~20000 0 - Immediate S

Torque control gain switchover Range Default Unit Effective Control Mode
P01.27
mode 0~3 0 - Immediate T

0: Group 1 gains (fixed): P01.00~P01.04;

1: Group 2 gains (fixed): P01.05~P01.09;

2: Use GAIN_SEL signal to switch between Group 1 and Group 2 gains; or use speed regulator for P/PI switchover;

3: When torque instruction exceeds settings of P01.29 & P01.30, switch to Group 2; otherwise Group 1 after the time set in

P01.28, unit 0.1%;

Torque control gain switchover Range Default Unit Effective Control Mode
P01.28
delay 0~1000 0 0.1ms Immediate T

Torque control gain switchover Range Default Unit Effective Control Mode
P01.29
grade 0~20000 0 - Immediate T

Torque control gain switchover Range Default Unit Effective Control Mode
P01.30
hysteresis 0~20000 0 - Immediate T

Range Default Unit Effective Control Mode

P01.31 Observer enable
0~2 0 - Restart P S T

0：Debugging

1：Disable

2：Enable

Range Default Unit Effective Control Mode

P01.32 Observer cutoff frequency
0~500 100 1HZ Restart P S T

The greater the cutoff frequency, the faster the response of speed observation and speed feedback, which may cause

abnormal noise.

Range Default Unit Effective Control Mode

P01.33 Observer phase compensation time 0 ～ 10000 0 0.01m

Immediate P S T
s

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Compensation feedback detection delay may increase the stability margin within a certain range, but should not be set too

large.

Range Default Unit Effective Control Mode

P01.34 Observer inertia coefficient 0 ～ 10000 1000 0.01m

Restart P S T
s

The recommended setting value is 1024 when the inertia is stable and accurate.

 P02 Group Vibration Suppression Parameters

Range Default Unit Effective Control Mode

P02.00 Position instruction smoothing filter
0~65535 0 0.1ms Immediate P

This parameter is position instruction first order low-pass filtering time constant.

Range Default Unit Effective Control Mode

P02.01 Position instruction FIR filter
0~1280 0 0.1ms Immediate P

Range Default Unit Effective Control Mode

P02.02 Adaptive filtering mode
0~4 0 - Immediate P S
rd th
0: Adaptive invalid, 3 & 4 filters are functioning but parameters are not updated;

1: Only 3rd filter is functioning with updated parameters;

2: 3rd & 4th filters are functioning with updated parameters;

3: Resonance frequency testing, but parameters are not updated;

4: Clear adaptive records, 3rd & 4th filters are not functioning.

Range Default Unit Effective Control Mode

P02.03 Adaptive filtering load mode
0~1 0 - Immediate P S T

0：High stiffness load

1：Low stiffness load

Range Default Unit Effective Control Mode

P02.04 First notch filter frequency (manual)
50~5000 5000 1Hz Immediate P S

This is the central frequency of first notch filter. If set to 5000 (default), it is invalid.

Range Default Unit Effective Control Mode

P02.05 First notch filter width
0~12 2 - Immediate P S

Range Default Unit Effective Control Mode

P02.06 First notch filter depth
0~99 0 - Immediate P S

Second notch filter frequency Range Default Unit Effective Control Mode
P02.07
(manual) 50~5000 5000 1Hz Immediate P S

Range Default Unit Effective Control Mode

P02.08 Second notch filter width
0~12 2 - Immediate P S

Range Default Unit Effective Control Mode

P02.09 Second notch filter depth
0~99 0 - Immediate P S

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Range Default Unit Effective Control Mode

P02.10 Third notch filter frequency
50~5000 5000 1Hz Immediate P S

Range Default Unit Effective Control Mode

P02.11 Third notch filter width
0~12 2 - Immediate P S

Range Default Unit Effective Control Mode

P02.12 Third notch filter depth
0~99 0 - Immediate P S

Range Default Unit Effective Control Mode

P02.13 Fourth notch filter frequency
50~5000 5000 1Hz Immediate P S

Range Default Unit Effective Control Mode

P02.14 Fourth notch filter width
0~12 2 - Immediate P S

Range Default Unit Effective Control Mode

P02.15 Fourth notch filter depth
0~99 0 - Immediate P S

Range Default Unit Effective Control Mode

P02.19 Position instruction FIR filter 2
0~1280 0 0.1ms Immediate P

Range Default Unit Effective Control Mode

P02.20 First vibration attenuation frequency
0~1000 0 0.1Hz Immediate P S

Frequency value of low-frequency resonance point 1.

First vibration attenuation filter Range Default Unit Effective Control Mode
P02.21
setting 0~10 0 0.1 Immediate P S

Half-cycle attenuation coefficient of low-frequency resonance point 1.

Second vibration attenuation Range Default Unit Effective Control Mode

P02.22
frequency 0~1000 0 0.1Hz Immediate P S

Frequency value of low-frequency resonance point 2.

Second vibration attenuation filter Range Default Unit Effective Control Mode
P02.23
setting 0~10 0 0.1 Immediate P S

Half-cycle attenuation coefficient of low-frequency resonance point 2.

Range Default Unit Effective Control Mode

P02.31 Resonance point 1 frequency
0~5000 5000 1Hz Display only P S

Resonance frequency detected by adaptive first notch filter.

Range Default Unit Effective Control Mode

P02.32 Resonance point 1 bandwidth
0~20 2 - Display only P S

Resonance frequency width detected by adaptive first notch filter.

Range Default Unit Effective Control Mode

P02.33 Resonance point 1 amplitude
0 ~1000 0 - Display only P S

Resonance frequency width detected by adaptive first notch filter.

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Range Default Unit Effective Control Mode

P02.34 Resonance point 2 frequency
0~5000 5000 1Hz Display only P S

Resonance frequency detected by adaptive second notch filter.

Range Default Unit Effective Control Mode

P02.35 Resonance point 2 bandwidth
0~20 2 - Display only P S

Resonance frequency width detected by adaptive second notch filter.

Range Default Unit Effective Control Mode

P02.36 Resonance point 2 amplitude
0~1000 0 - Display only P S

Resonance frequency width detected by adaptive second notch filter.

 P03 Group Speed & Torque Control Parameters

Range Default Unit Effective Control Mode

P03.00 Speed instruction source selection
0~6 0 - Restart S

0: by P03.03 setting value;

1: SPR (default AI1);

2: SPR, multi-stage 2~16 switchover;

3: multi-stage 1~16 switchover;

4: communication setting;

5: SPR + digital setting;

6: multi-stage 1~16 switchover + digital setting.

Range Default Unit Effective Control Mode

P03.03 Speed instruction digital setting
-9000~9000 200 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.04 JOG speed setting
0~3000 200 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.08 Torque limit source
0~3 0 - Immediate P S T

0: Internal torque limit by P03.09, P03.10

1: External torque limit by P03.11, P03.12 enabled by P_CL/N_CL signals

2: TLMTP i.e. AI1 or AI2 as external forward/reverse torque limit

3: TLMTP as forward limit; TLMTN as reverse limit

Range Default Unit Effective Control Mode

P03.09 Internal forward torque limit
0~5000 3000 0.1% Immediate P S T

Relative to motor rated torque (100.0%).

Range Default Unit Effective Control Mode

P03.10 Internal reverse torque limit
0~5000 3000 0.1% Immediate P S T

Relative to motor rated torque (100.0%).

Range Default Unit Effective Control Mode

P03.11 External forward torque limit
0~5000 3000 0.1% Immediate P S T

Relative to motor rated torque (100.0%).

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Range Default Unit Effective Control Mode
P03.12 External reverse torque limit
0~5000 3000 0.1% Immediate P S T

Relative to motor rated torque (100.0%).

Range Default Unit Effective Control Mode

P03.14 Acceleration time 1
0~65535 10 1ms Immediate S

0ms~65535ms/1000rpm

Range Default Unit Effective Control Mode

P03.15 Deceleration time 1
0~65535 10 1ms Immediate S

0ms~65535ms/1000rpm

Range Default Unit Effective Control Mode

P03.16 Acceleration time 2
0~65535 10 1ms Immediate T

0ms~65535ms/1000rpm

Range Default Unit Effective Control Mode

P03.17 Deceleration time 2
0~65535 10 1ms Immediate T

0ms~65535ms/1000rpm

Range Default Unit Effective Control Mode

P03.19 Zero-speed clamp function
0~2 0 - Immediate S T

0: Invalid

1: When ZERO_SPD is valid, the speed command is forced to be 0.

2: When ZERO_SPD is valid, the speed command is forced to be 0. When the actual speed of motor is less than the value of

P03.20, servo will switch over to position control mode and lock.

Range Default Unit Effective Control Mode

P03.20 Zero-speed clamp threshold value
0~1000 10 1RPM Immediate S T

Range Default Unit Effective Control Mode

P03.22 Torque instruction source
0~4 0 - Restart T

0: Digital setting of P03.25;

1: TQR;

2: Digital setting, TQR switchover (CMD_SEL);

3: Communication setting;

4: TQR+ Digital setting.

Torque instruction digital setting Range Default Unit Effective Control Mode
P03.25
value -3000~3000 0 0.1% Immediate T

-300.0%~300.0% (relative to motor rated torque)

Range Default Unit Effective Control Mode

P03.26 Speed limit source in torque control
0~1 0 - Immediate T

0: Internal positive/negative speed limit P03.27 and P3.28

1: SPL

Range Default Unit Effective Control Mode

P03.27 Internal positive speed limit
0~9000 3000 1RPM Immediate T

Range Default Unit Effective Control Mode

P03.28 Internal negative speed limit
0~9000 3000 - Immediate T

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Range Default Unit Effective Control Mode

P03.29 Hard limit torque limit
0~4000 3000 0.1% Immediate P S T

When contacting the torque limit at hard limit, this should be -300. 0% to 300. 0%(based on the rated torque of motor). When

the torque instruction increases rapidly and time exceeds the detection time set in P03.30, it’s considered to contact hard limit.

Use torque instruction sign to distinguish positive/ negative hard limit.

When the third digit of P07.08 from the right side is set to 1 or 2, this parameter becomes valid.

Range Default Unit Effective Control Mode

P03.30 Hard limit torque limit detection time
0~2000 100 - Immediate P S T

When the third digit of P07.08 from the right side is set to 1 or 2, this parameter becomes valid.

Internal speed instruction segment Range Default Unit Effective Control Mode
P03.31
number selection mode 0~1 0 - Restart S

0: DI terminal selection

1: Communication

Acceleration time selection for Range Default Unit Effective Control Mode
P03.32
internal speed segment 1-8 0~1 0 - Immediate S

0: Acceleration time 1 (P03.14);

1: Acceleration time 2 (P03.16).

Deceleration time selection for Range Default Unit Effective Control Mode
P03.33
internal speed segment 1-8 0~1 0 - Immediate S

0: Deceleration time 1 (P03.15);

1: Deceleration time 2 (P03.17).

Acceleration time selection for Range Default Unit Effective Control Mode
P03.34
internal speed segment 9-16 0~1 0 - Immediate S

0: Acceleration time 1 (P03.14);

1: Acceleration time 2 (P03.16).

Deceleration time selection for Range Default Unit Effective Control Mode
P03.35
internal speed segment 9-16 0~1 0 - Immediate S

0: Deceleration time 1 (P03.15);

1: Deceleration time 2 (P03.17).

Range Default Unit Effective Control Mode

P03.36 Segment 1 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.37 Segment 2 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.38 Segment 3 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.39 Segment 4 speed
-9000~9000 0 1RPM Immediate S

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Range Default Unit Effective Control Mode

P03.40 Segment 5 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.41 Segment 6 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.42 Segment 7 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.43 Segment 8 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.44 Segment 9 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.45 Segment 10 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.46 Segment 11 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.47 Segment 12 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.48 Segment 13 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.49 Segment 14 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.50 Segment 15 speed
-9000~9000 0 1RPM Immediate S

Range Default Unit Effective Control Mode

P03.51 Segment 16 speed
-9000~9000 0 1RPM Immediate S

 P04 Group Digital Input/output Parameters

Range Default Unit Effective Control Mode

P04.00 Normal DI filter selection
0~10000 500 1µs Restart P S T

This parameter is only applicable to DI1 to DI6. For DI7 to DI9, refer to P06.44.

P04.01 DI1 terminal function selection Range Default Unit Effective Control Mode

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0~63 1 - Restart P S T

Input function codes：0，1-63

0：No definition

1～63：FunI N. 1～63（Refer to the table of DI function. Some DI haven’t been defined, reserved）

Please refer to table below:

Value Sign Name Remarks

Invalid-Servo disabled
1 S_ON Servo enable
Valid-Servo enabled

2 ERR_RST Error reset Valid when detecting edge changes.

Invalid-Speed control loop is PI control.

3 GAIN_SEL Gain switchover
Valid- Speed control loop is P control.

Invalid: present command is A

4 CMD_SEL Command switchover
Valid: present command is B

Invalid-No operation
5 PERR_CLR Pulse deviation clear
Valid-Clear pulse deviation

16-stage instruction
6 MI_SEL1
switchover

16-stage instruction
7 MI_SEL2
switchover Select 16 position instruction or speed instruction to execute via

16-stage instruction DI terminal.

8 MI_SEL3
switchover

16-stage instruction
9 MI_SEL4
switchover

10 MODE_SEL Control mode switchover Switchover of control modes when P00.01 is set to 3, 4 or 5.

Valid-Zero-speed clamp enabled

12 ZERO_SPD Zero-speed clamp
Invalid- Zero-speed clamp disabled

Valid- Pulse input inhibition

13 INHIBIT Pulse input inhibition
Invalid-Pulse input allowed

14 P_OT Positive over-travel Use with limit switches for over-travel protections.

15 N_OT Negative over-travel Use with limit switches for over-travel protections.

External forward torque Valid-External torque limit is valid

16 P_CL
limit Invalid- External torque limit is invalid

External reverse torque Valid- External torque limit is valid

17 N_CL
limit Invalid- External torque limit is invalid

Valid- Input according to the specified instruction

18 P_JOG Positive JOG
Invalid-Instruction input stop

19 N_JOG Negative JOG

20 GEAR_SEL1 GEAR_SEL1 invalid, GEAR_SEL2 invalid: electronic gear 1

GEAR_SEL1 valid, GEAR_SEL2 invalid: electronic gear 2

Electronic gear selection
21 GEAR_SEL2 GEAR_SEL1 invalid, GEAR_SEL2 valid: electronic gear 3

GEAR_SEL1 valid, GEAR_SEL2 valid: electronic gear 4

22 POS_DIR Position instruction negation Invalid-No reverse；

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Valid-Reverse

Invalid-No reverse；
23 SPD_DIR Speed instruction negation
Valid-Reverse

Invalid-No reverse；
24 TOQ_DIR Torque instruction negation
Valid-Reverse

Invalid-Disable internal multi-stage instruction；

25 PSEC_EN Internal multi-stage enable
Valid- Enable internal multi-stage instruction

26 INTP_ULK Interrupt positioning release Valid: when P08.86 is set to 2 or 4

27 INTP_OFF Interrupt positioning inhibit Valid: when P08.86 is set to non-zero value

Can be used as origin position signal or deceleration position

28 HOME_IN Homing origin point
signal

29 STHOME Homing start Start homing operation.

Invalid-No effect
30 ESTOP Emergency stop
Valid-Emergency stop enabled

Valid-Step enabled；
31 STEP Step enable
Invalid- Instruction is 0, positioning

Invalid-No effect
32 FORCE_ERR Forced error protection
Valid- Forced error protection

34 INTP_TRIG Interrupt positioning trigger Valid: when P08.86 is set to non-zero value, can only use DI8 or DI9.

Invalid-No effect
Internal position instruction
35 INPOSHAL T Valid- Decelerate and pause executing internal multi-stage
generation pause
position and interrupt positioning

Invalid-No effect，
36 ANALOG_OFF Analog input inhibition
Valid- Analog input inhibition

Invalid-No effect;
SEN enable absolute position
37 ENC_SEN Valid- OAOBOZ send absolute position data, cannot enable
data sending
servo

Range Default Unit Effective Control Mode

P04.02 DI2 terminal function selection
0~63 2 - Restart P S T

Range Default Unit Effective Control Mode

P04.03 DI3 terminal function selection
0~63 13 - Restart P S T

Range Default Unit Effective Control Mode

P04.04 DI4 terminal function selection
0~63 5 - Restart P S T

Range Default Unit Effective Control Mode

P04.05 DI5 terminal function selection
0~63 25 - Restart P S T

Range Default Unit Effective Control Mode

P04.06 DI6 terminal function selection
0~63 14 - Restart P S T

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Range Default Unit Effective Control Mode

P04.07 DI7 terminal function selection
0~63 15 - Restart P S T

Range Default Unit Effective Control Mode

P04.08 DI8 terminal function selection
0~63 0 - Restart P S T

Range Default Unit Effective Control Mode

P04.09 DI9 terminal function selection
0~63 0 - Restart P S T

Range Default Unit Effective Control Mode

P04.11 DI1 terminal logic selection
0~1 0 - Immediate P S T

Input polarity:

0: Low level valid

1: High level valid

Range Default Unit Effective Control Mode

P04.12 DI2 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.13 DI3 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.14 DI4 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.15 DI5 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.16 DI6 terminal logic selection
0~1 1 - Immediate P S T

Range Default Unit Effective Control Mode

P04.17 DI7 terminal logic selection
0~1 1 - Immediate P S T

Range Default Unit Effective Control Mode

P04.18 DI8 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.19 DI9 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.21 DO1 terminal function selection
0~31 11 - Restart P S T

Output function codes： 1-31

0：No definition

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1～31：FunOUT. 1～31（Refer to the table of DO function. Some haven’t been defined, reserved）

Please refer to table below:

Value Sign Name Remarks

Valid- Servo ready

1 S_RDY Servo ready
Invalid- Servo not ready

2 S_ERR Servo error Valid when detecting error

3 S_WARN Servo warning Valid when alarm output

Valid-Motor rotation is valid

4 TGON Motor rotation
Invalid- Motor rotation is invalid.

Valid- Motor speed is 0

5 V_ZERO Motor speed is 0
Invalid- Motor speed is not 0

Speed control, valid when absolute deviation of motor speed and

6 V_CMP Speed conformity
speed instruction is less than the settings of P04.44.

Position control, valid when pulse deviation is less than the

7 COIN Positioning completed
settings of P04.47.

Position control, valid when pulse deviation is less than the

8 NEAR Positioning near
settings of P04.50.

Valid - Motor torque is in limit

9 T_LT Torque in limit
Invalid - Motor torque is not in limit

Valid - Motor speed is in limit

10 V_LT Speed in limit
Invalid - Motor speed is not in limit

Valid –Brake release，motor rotate

11 BKOFF Brake release
Invalid –Motor shaft lock

Valid when torque feedback reaches the settings of P04.55;

12 T_ARR Torque reached
allowable fluctuations set in P04.56.

Valid when speed feedback reaches the settings of P04.45;

13 V_ARR Speed reached
allowable fluctuations ±10rpm.

Position deviation is smaller than setting value of 04.47 at

15 INTP_DONE Interrupt positioning complete
interrupt positioning. Signal holding time is set by 04.49.

16 DB_OUT Dynamic brake output Requires external relay or contactor and current limiting resistor

17 HOME Homing complete

18 INTP_WORK Interrupt positioning working Interrupt positioning execution

Position 1 comparison Output trigger signal when position 1 reaches the corresponding
19 PCOM1
trigger signal range

Position 2 comparison Output trigger signal when position 2 reaches the corresponding
20 PCOM2
trigger signal range

Position 3 comparison Output trigger signal when position 3 reaches the corresponding
21 PCOM3
trigger signal range

Position 4 comparison Output trigger signal when position 4 reaches the corresponding
22 PCOM4
trigger signal range

Range Default Unit Effective Control Mode

P04.22 DO2 terminal function selection
0~31 4 - Restart P S T

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Range Default Unit Effective Control Mode

P04.23 DO3 terminal function selection
0~31 7 - Restart P S T

Range Default Unit Effective Control Mode

P04.24 DO4 terminal function selection
0~31 5 - Restart P S T

Range Default Unit Effective Control Mode

P04.25 DO5 terminal function selection
0~31 9 - Restart P S T

Range Default Unit Effective Control Mode

P04.26 DO6 terminal function selection
0~31 6 - Restart P S T

Range Default Unit Effective Control Mode

P04.27 DO7 terminal function selection
0~31 1 - Restart P S T

Range Default Unit Effective Control Mode

P04.28 DO8 terminal function selection
0~31 2 - Restart P S T

Range Default Unit Effective Control Mode

P04.29 DO9 terminal function selection
0~31 0 - Restart P S T

Range Default Unit Effective Control Mode

P04.31 DO1 terminal logic selection
0~1 0 - Immediate P S T

Output polarity:0-1

0: Connected at valid (normally-open contacts)

1: Disconnected at valid (normally-closed contacts)

Range Default Unit Effective Control Mode

P04.32 DO2 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.33 DO3 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.34 DO4 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.35 DO5 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.36 DO6 terminal logic selection
0~1 0 - Immediate P S T

P04.37 DO7 terminal logic selection Range Default Unit Effective Control Mode

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0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

P04.38 DO8 terminal logic selection
0~1 1 - Immediate P S T

Range Default Unit Effective Control Mode

P04.39 DO9 terminal logic selection
0~1 0 - Immediate P S T

Range Default Unit Effective Control Mode

FUNINL signal unassigned state
P04.41 0000H ～
(Hex) 0 - Restart P S T
FFFFH

0～0xFFFF

Bit0~Bit15 corresponds to DI functions 0~15.

Range Default Unit Effective Control Mode

FUNINH signal unassigned state
P04.42 0000H ～
(Hex) 0 - Restart P S T
FFFFH

0～0xFFFF

Bit0~Bit15 corresponds to DI functions 16~31.

Motor rotational signal (TGON) Range Default Unit Effective Control Mode
P04.43
threshold 0~1000 20 1RPM Immediate P S T

Speed conformity signal (V_CMP) Range Default Unit Effective Control Mode
P04.44
width 10~1000 50 1RPM Immediate S

Speed reached signal (V_ARR) Range Default Unit Effective Control Mode
P04.45
width 10~9000 100 1RPM Immediate P S T

Positioning completion (COIN) Range Default Unit Effective Control Mode

P04.47
threshold 1~65535 100 1P Immediate P

Positioning completion output Range Default Unit Effective Control Mode

P04.48
setting 0~7 0 - Immediate P

0: When position deviation absolute value is less than the setting value of P04.47, output COIN signal;

1: When position deviation absolute value is less than the setting value of P04.47 and position instruction is 0, output COIN

signal;

2- When position deviation absolute value is less than the setting value of P04.47 and position instruction is 0, output COIN

signal and holding time is the setting value of P04.49.

3: When position deviation absolute value is less than the setting value of P04.47 and position instruction is 0 after filtering,

output COIN signal;

4: Condition 0 and zero-speed signal is valid, output COIN signal;

5: Condition 1 and zero-speed signal is valid, output COIN signal;

6: Condition 2 and zero-speed signal is valid, output COIN signal;

7: Condition 3 and zero-speed signal is valid, output COIN signal.

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Range Default Unit Effective Control Mode
P04.49 Positioning completion holding time
1~65535 1 1ms Immediate P

Range Default Unit Effective Control Mode

P04.50 Positioning near (NEAR) threshold
1~65535 65535 1P Immediate P

Servo OFF delay time after holding Range Default Unit Effective Control Mode
P04.51
brake taking action when speed is 0 10~500 10 1ms Immediate P S T

Speed setting for holding brake to Range Default Unit Effective Control Mode
P04.52
take action in motion 0~3000 100 1RPM Immediate P S T

Waiting time for holding brake to Range Default Unit Effective Control Mode
P04.53
take action in motion 0 ～ 9999 10 1ms Immediate P S T

Range Default Unit Effective Control Mode

P04.54 Special output function setting
0~3 0 - Restart P S T

0: invalid

1: external DB output, DO9 only (please ensure safety)

2: OUT_Z output, DO6 only

3: Both 1 & 2 are in use

Range Default Unit Effective Control Mode

P04.55 Torque reached (T_ARR) threshold
0~3000 1000 0.1% Immediate P S T

Range Default Unit Effective Control Mode

P04.56 Torque reached signal width
0~3000 200 0.1% Immediate P S T

Range Default Unit Effective Control Mode

P04.57 Phase-Z pulse width adjustment
0~100 0 - Restart P S T

Range Default Unit Effective Control Mode

P04.58 Zero-speed signal output limit
0~1000 60 1rpm Immediate P S T

 P05 Group Analog Input/output Parameters

P05.00 AI1 minimum input Range Default Unit Effective Control Mode

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-1000~1000 -1000 0.01V Restart P S T

-10.00V~10.00V

Corresponding value of AI1 Range Default Unit Effective Control Mode

P05.01
minimum input -1000~1000 -1000 0.1% Restart P S T

-100.0%~100.0% ((100% speed corresponds to P05.14 setting value, 100% torque corresponds to P05.15 setting value.)

Range Default Unit Effective Control Mode

P05.02 AI1 maximum input
-1000~1000 1000 0.01V Restart P S T

-10.00V~10.00V

Corresponding value of AI1 Range Default Unit Effective Control Mode

P05.03
maximum input -1000~1000 1000 0.1% Restart P S T

-100.0%~100.0% ((100% speed corresponds to P05.14 setting value, 100% torque corresponds to P05.15 setting value.)

Range Default Unit Effective Control Mode

P05.04 AI1 zero offset
-500~500 0 1mV Immediate P S T

Range Default Unit Effective Control Mode

P05.05 AI1 dead-zone setting
0~200 0 0.1% Immediate P S T

Range Default Unit Effective Control Mode

P05.06 AI1 input filtering time
0~65535 20 0.1ms Immediate P S T

Range Default Unit Effective Control Mode

P05.07 AI2 minimum input
-1000~1000 -1000 0.01V Restart P S T

-10.00V~10.00V

Corresponding value of AI2 Range Default Unit Effective Control Mode

P05.08
minimum input -1000~1000 -1000 0.1% Restart P S T

-100.0%~100.0% ((100% speed corresponds to P05.14 setting value, 100% torque corresponds to P05.15 setting value.)

Range Default Unit Effective Control Mode

P05.09 AI2 maximum input
-1000~1000 1000 0.01V Restart P S T

-10.00V~10.00V

Corresponding value of AI2 Range Default Unit Effective Control Mode

P05.10
maximum input -1000~1000 1000 0.1% Restart P S T

-100.0%~100.0% ((100% speed corresponds to P05.14 setting value, 100% torque corresponds to P05.15 setting value.)

Range Default Unit Effective Control Mode

P05.11 AI2 zero offset
-500~500 0 1mV Immediate P S T

Range Default Unit Effective Control Mode

P05.12 AI2 dead-zone setting
0~200 0 0.1% Immediate P S T

Range Default Unit Effective Control Mode

P05.13 AI2 input filtering time
0~65535 20 0.1ms Immediate P S T

Range Default Unit Effective Control Mode

P05.14 AI setting 100% speed
0~9000 3000 1RPM Immediate P S T

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0~9000RPM

Range Default Unit Effective Control Mode

P05.15 AI setting 100% torque
0~500 100 0.01 Immediate P S T

0~5.00 times motor rated torque

Range Default Unit Effective Control Mode

P05.16 AI1 function selection
0~5 0 - Immediate P S T

0: SPR, speed instruction;

1: TQR, torque instruction;

2: SPL, speed limit;

3: TLMTP, positive torque limit;

4: TLMTN, negative torque limit;

5: TFFD, torque feedforward.

Range Default Unit Effective Control Mode

P05.17 AI2 function selection
0~5 3 - Immediate P S T

Same as P05.16.

AO1 signal selection (need optional Range Default Unit Effective Control Mode
P05.28
card) 0~13 0 - Immediate P S T

0: Motor speed (1V/1000RPM);

1: Speed instruction (1V/1000RPM);

2: Torque instruction (1V/100%);

3: Position deviation (0.05V/1 instruction unit);

4: Position amplifier deviation after electronic gear (0.05V/1 encoder unit);

5: Position instruction speed (1V/1000RPM);

6: Positioning completion (Completed: 5V; Not completed: 0V);

7: Speed feedforward (1V/1000RPM);

8: Torque feedforward (1V/100%);

9: Load ratio (1V/100%);

10: Regenerative load ratio (1V/100%);

11: Module temperature (0.1V/1⁰C);

12: AI1 (1V/1V);

13: AI2 (1V/1V).

Range Default Unit Effective Control Mode

P05.29 AO1 voltage offset
-10000~10000 0 mV Immediate P S T

Range Default Unit Effective Control Mode

P05.30 AO1 multiplier
-99.99~99.99 1.00 - Immediate P S T

AO2 signal selection (need optional Range Default Unit Effective Control Mode
P05.31
card) 0~13 0 - Immediate P S T

Same as P05.28.

Range Default Unit Effective Control Mode

P05.32 AO2 voltage offset
-10000~10000 0 mV Immediate P S T

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Range Default Unit Effective Control Mode
P05.33 AO2multiplier
-99.99~99.99 1.00 - Immediate P S T

Range Default Unit Effective Control Mode

P05.34 AO monitoring value types 0000H 〜

0 - Immediate P S T
00FFH

0 ～ 255

Hexadecimal, from right to left:

First digit: Set AO1 monitoring value types

Second digit: Set AO2 monitoring value types

0：Data output with sign, -10V ～ +10V，

1：Absolute data output，0 ～ 10V

 P06 Group Expansion Parameters

Range Default Unit Effective Control Mode

P06.00 Electronic gear numerator 2(32-bit)
1~1073741824 0 - Immediate P

Range Default Unit Effective Control Mode

P06.02 Electronic gear numerator 3(32-bit)
1~1073741824 0 - Immediate P

Range Default Unit Effective Control Mode

P06.04 Electronic gear numerator 4(32-bit)
1~1073741824 0 - Immediate P

Position deviation clearance Range Default Unit Effective Control Mode

P06.06
function 0~3 0 - Immediate P

0: Clear position deviation when servo is OFF and has error;

1: Clear position deviation only when servo has error;

2: Clear position deviation when servo is OFF and has error and PERR_CLR is valid;

3: Clear position deviation only by PERR_CLR

Electronic gear ratio switchover Range Default Unit Effective Control Mode
P06.09
delay 0~1 0 - Restart P S

0: Switch after position instruction maintains 0 for 10ms;

1: Real-time switchover.

Potential energy load torque Range Default Unit Effective Control Mode
P06.10
compensation -100~100 0 1% Immediate P S

Compensation for gravitational load.

Range Default Unit Effective Control Mode

P06.11 P06.10 memory selections
0~2 2 - Immediate P S

0: Automatic update, memory at power off;

1: Automatic update, initialize after power off;

2: Not automatic update.

P06.12 Forward friction torque Range Default Unit Effective Control Mode

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compensation -3000 ～ 3000 0 0. 1% Immediate P S

Range Default Unit Effective Control Mode

Reverse friction torque
P06.13
compensation -3000 ～ 3000 0 0. 1% Immediate P S

Range Default Unit Effective Control Mode

P06.14 Viscous friction compensation
-3000 ～ 3000 0 0. 1% Immediate P S

Range Default Unit Effective Control Mode

P06.15 Friction compensation time constant
0 ～ 10000 0 0. 1% Immediate P S

Range Default Unit Effective Control Mode

Friction compensation low-speed
P06.16
zone 0 ～ 500 1 1rpm Immediate P S

Range Default Unit Effective Control Mode

P06.19 Parameter identification rate
100~1000 500 - Restart P S

Parameter identification Range Default Unit Effective Control Mode

P06.20
acceleration time 50~10000 100 - Restart P S

Parameter identification Range Default Unit Effective Control Mode

P06.21
deceleration time 50~10000 100 - Restart P S

Parameter identification mode Range Default Unit Effective Control Mode

P06.22
selection 0~1 0 - Restart P S

0: During auto-tuning, not update inertia automatically;

1: During auto-tuning, update inertia automatically.

Initial angle identification current Range Default Unit Effective Control Mode
P06.23
limit 0~2000 500 0.1% Restart P S T

Instantaneous power failure Range Default Unit Effective Control Mode

P06.24
protection 0~2 0 - Immediate P S T

0: No protection;

1: With protection;

2: With protection and automatic reset.

Instantaneous power failure Range Default Unit Effective Control Mode

P06.25
deceleration time 0~10000 20 1ms Immediate P S T

The setting range is 0~10000ms/1000RPM.

Range Default Unit Effective Control Mode

P06.26 Servo OFF stop mode selection
0~2 0 - Restart P S T

0: Coast to stop;
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1: Zero-speed stop;

2: Stop by emergency torque (P06.32).

Second category fault stop mode Range Default Unit Effective Control Mode
P06.27
selection 0~2 0 - Restart P S T

Same as P06.26.

Range Default Unit Effective Control Mode

P06.28 Over-travel input setting
0~1 1 - Restart P S T

0: P_OT and N_OT are valid;

1: Over-travel is invalid.

Range Default Unit Effective Control Mode

P06.29 Over-travel stop mode selection
0~2 0 - Restart P S T

Same as P06.26.

Range Default Unit Effective Control Mode

P06.30 Input power phase loss protection
0~1 0 - Immediate P S T

0: With protection;

1: Without protection.

Range Default Unit Effective Control Mode

P06.31 Output power phase loss protection
0~1 0 - Immediate P S T

0: With protection;

1: Without protection.

Range Default Unit Effective Control Mode

P06.32 Emergency stop torque
0~5000 1000 0.1% Immediate P S T

0.0% to 500.0% motor rated torque

Range Default Unit Effective Control Mode

P06.33 Tripping protection function
0~1 0 - Immediate P S T

0: With protection;

1: Without protection.

Range Default Unit Effective Control Mode

P06.34 Overload warning value
1~100 100 1% Immediate P S T

Motor overload protection Range Default Unit Effective Control Mode

P06.35
coefficient 10~300 100 1% Immediate P S T

Range Default Unit Effective Control Mode

P06.36 Undervoltage protection point
50~130 100 1% Immediate P S T

50%~100% to default undervoltage protection point.

Range Default Unit Effective Control Mode

P06.37 Over-speed error point
50~120 120 1% Immediate P S T

50%~120% to motor maximum speed.

Range Default Unit Effective Control Mode

P06.38 Maximum input pulse frequency
10~9000 500 1KHz Restart P

P06.39 Short circuit to ground detection Range Default Unit Effective Control Mode

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protection selection 0~1 1 - Immediate P S T

0: With protection;

1: Without protection.

Encoder interference detection Range Default Unit Effective Control Mode

P06.40
delay 0~99 0 - Immediate P S

Range Default Unit Effective Control Mode

P06.41 Input pulse filtering setting
0~500 40 - Restart P

Recommended value for this parameter:

Input pulse frequency P06.41 setting

Below 250KHz 40

250KHz to 500KHz 20

500KHz to 1MHz 10

1MHz to 2MHz 5

Above 2MHz 0

Range Default Unit Effective Control Mode

P06.42 Input pulse inhibition setting
0~3 0 - Restart P

Only DI7, 8, 9 can be used.

0: 0.5ms twice continuously consistent;

1: 0.5ms three times continuously consistent;

2: 1ms three times continuously consistent;

3: 2ms three times continuously consistent.

Range Default Unit Effective Control Mode

P06.43 Deviation clearance input setting
0~1 0 - Restart P

Only DI7, 8, 9 can be used.

0: Level is valid;

1: Edge is valid.

Range Default Unit Effective Control Mode

P06.44 High speed DI filtering setting
0~10000 1000 1µs Restart P S T

Only DI7, 8, 9 can be used.

Range Default Unit Effective Control Mode

P06.45 Speed deviation too large threshold
10~10000 0 1RPM Immediate P S

0: speed deviation detection is disabled;

1~10000: if speed deviation is over this value, Err.16 will output.

Range Default Unit Effective Control Mode

P06.46 Torque saturation overtime setting
0~30000 0 1ms Immediate P S T

If torque is saturated for time longer than this value, Err.17 will output.

Range Default Unit Effective Control Mode

P06.47 Absolute system setting
0~19 0 - Immediate P S T

One’s place:

0: Incremental system;

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1: Absolute system;

2: Absolute system (Err.12 needs manual clearance, industrial robotics special);

3~9: Absolute system with overflow error.

Ten’s place:

0: Battery undervoltage warning but keep running;

1: Battery undervoltage warning and stop.

Encoder battery undervoltage Range Default Unit Effective Control Mode

P06.48
threshold 0~33 30 0.1V Restart P S T

Refer to P06.47.

Range Default Unit Effective Control Mode

P06.49 High-speed pulse input filter
0~500 40 - Restart P S T

0 ～500(Unit:10ns)

For 250KHZ or less，recommended value is 40；

For 250K ～500K, 20；

For 500K ～1M, 10；

For 1M or more, 5；

For 2M or more, 0.

 P07 Group Auxiliary function Parameters

Range Default Unit Effective Control Mode

P07.00 Panel display 0000H 〜

0 - Immediate P S T
FFFFH

Hexadecimal, from right to left:

First digit: Display the setting at homepage of panel

0：Status display

When set to 1 to 5, display the parameters set in P07. 01 ～ P07. 05.

Others are reserved.

Range Default Unit Effective Control Mode

P07.01 Panel monitoring parameter setting 1
0~69 1 - Immediate P S T

This parameter is for displaying P21 group parameters except for P21.00.

Range Default Unit Effective Control Mode

P07.02 Panel monitoring parameter setting 2
0~69 5 - Immediate P S T

Range Default Unit Effective Control Mode

P07.03 Panel monitoring parameter setting 3
0~69 6 - Immediate P S T

Range Default Unit Effective Control Mode

P07.04 Panel monitoring parameter setting 4
0~69 21 - Immediate P S T

Range Default Unit Effective Control Mode

P07.05 Panel monitoring parameter setting 5
0~69 23 - Immediate P S T

P07.06 Panel monitoring parameter setting 6 Range Default Unit Effective Control Mode

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0~69 0 - Immediate P S T

Range Default Unit Effective Control Mode

P07.07 Panel monitoring parameter setting 7
0~69 0 - Immediate P S T

Range Default Unit Effective Control Mode

P07.08 Function selection 1 0000H ～

0 - Immediate P S T
FFFFH

Hexadecimal, from right to left:

First digit: Time multiplier of origin search

Second digit: Deviation clear selection at pulse inhibition:

0： Non-automatic clear deviation at pulse inhibition

1： Automatic clear deviation at pulse inhibition

Third digit: Limit detection method at origin search:

0： By D1 14 and 15 detection

1： By hard limit torque detection

2： DI function or hard limit torque detection

Fourth digit: Soft-limit detection:

0： No soft-limit detection

1： Enable soft-limit detection at power-on

2： Soft-limit detection after home return completion

Range Default Unit Effective Control Mode

P07.09 Function selection 2
0~69 0 - Immediate P S T

Reserved

Range Default Unit Effective Control Mode

P07.10 User password
0~69 0 - Immediate P S T

Reserved

Instant power failure immediate Range Default Unit Effective Control Mode
P07.11
memory function 0~1 0 - Immediate P S T

0: Disabled

1: Enabled

Range Default Unit Effective Control Mode

P07.12 User password screen-lock time
0~30 5 min Immediate P S T

Range Default Unit Effective Control Mode

P07.14 Fast deceleration time
1~9999 5 ms Immediate P S

Range Default Unit Effective Control Mode

P07.16 Function selection 3 0000H ～

0 - Immediate P
FFFFH

Hexadecimal, from right to left:

First digit: Interrupt positioning instruction setting

0： No adjustment with electronic gear;

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1： Adjust with electronic gear

Second digit: Interrupt positioning instruction direction setting

0： Follow the current operation direction

1： Decided by instruction sign

Third digit: Effective method setting at start home return

0： Valid at low level

1： Valid at falling edge

Other digits are reserved.

Maximum division number pre motor Range Default Unit Effective Control Mode
P07.17
one revolution 0~99 0 - Immediate P

Range Default Unit Effective Control Mode

P07.19 Function selection 5 0000H 〜

0 - Restart P S T
FFFFH

Hexadecimal, from right to left,

First digit: Reserved

Second digit: Reserved

Third digit: Position feedback initialization selection

If not the absolute system(P06. 47=0),

0： Initialize to 0

1： Initialize to the value before power-off (Enabling ‘Instant power failure immediate memory function’ is required, that is P07.

11 is set to 1)

If absolute system(P06. 47≠ 0), decided by encoder value.

Fourth digit： Absolute position (P21. 07) and position feedback (P21. 17) counter bit width selection

0： 32-bit counter

1： 64-bit counter

When using 64-bit counter, low 32-bit of absolute position display in P21. 07 and high 32-bit displays in P21. 56;

Low 32-bit of position feedback displays in P21. 17 and high 32-bit displays in P21. 58.

Range Default Unit Effective Control Mode

P07.20 Function selection 6 0000H 〜

0 - Restart P S T
FFFFH

Hexadecimal, from right to left:

First digit：Motor type selection

0：Read from encoder;

1：Manual setting；

Second digit： Software overcurrent detection

0： Enable

1： Disable

Other digits are reserved.

Range Default Unit Effective Control Mode

P07.21 Function selection 7 0000H 〜

0 - Restart P S T
FFFFH

Hexadecimal, from right to left:

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First digit： Servo not ready

0： No error or alarm

1： AL. 084 occurs

2： Er. 040 occurs

Second digit：Reserved

Third digit： DI DO monitoring display

0： By binary

1： By hexadecimal

Other digits are reserved.

Range Default Unit Effective Control Mode

P07.22 Function selection 8 0000H 〜

0 - Restart P S T
FFFFH

Hexadecimal, from right to left:

First digit: Main power off(Err .56) detection setting

0： Err .56 detected and reset automatically

1： Err .56；Not detect Err .56

2： Err .56 detected but cannot reset automatically

Second digit：Undervoltage(Err .21) detection setting

0： Err .21 detected and reset automatically

1： Not detect Err .21.

2： Err .21 detected but cannot reset automatically.

Third digit： Error records of Err .21 and Err .56

0： Not stored

1： Stored

Fourth digit： Control power undervoltage error (Err .18) detection

0： Enable

1： Disabled

Range Default Unit Effective Control Mode

P07.23 Alarm reset time
0 〜1 0 - Immediate P S T

0： Reset at SON valid

1： Cannot reset at SON valid

Range Default Unit Effective Control Mode

-214748364
P07.24 Positive soft-limit(32-bit) 214748
8 〜 - Restart P S T
3647
2147483647

This parameter becomes valid at position control, speed control and torque control mode.

Range Default Unit Effective Control Mode

-214748364
P07.24 Negative soft-limit(32-bit) -21474
8 〜 - Restart P S T
83648
2147483647

This parameter becomes valid at position control, speed control and torque control mode.

 P08 Group Internal Position Control Parameters

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Internal position execution pattern Range Default Unit Effective Control Mode
P08.00
selection 0~5 0 - Restart P

0: Single operation

1: Cycle operation

2: DI terminal switchover operation

3: Communication switchover operation

4: Single continuous operation

5: Cycle continuous operation

There are totally 16-stage instructions, set the starting stage number by P08. 01 and ending stage number by P08. 02. For

single operation, it starts from the starting stage, executes each stage’s operation, then to the end stage. For cycle operation,

starts from the starting stage, executes each stage’s operation, to the end stage, then to the starting stage. It repeats the

operation until the internal position signal becomes invalid or servo-off.

For 2 and 3, select the stage number by DI terminal or communication.

For 4 and 5, the difference is that there is need to decelerate to 0 before start the next stage operation. But for 0 and 1, it

should decelerate to 0 before start the next stage operation.

Range Default Unit Effective Control Mode

P08.01 Starting stage number
0~16 1 - Immediate P

The value of P08. 01 should be less than P08. 02. When P08.01 cannot be greater, change the P08.02 to the maximum

expected value, and then modify P08. 01.

Range Default Unit Effective Control Mode

P08.02 Ending stage number
0~16 2 - Immediate P

The value of P08.02 should be greater than P08.01.

Restarting pattern of residual stags Range Default Unit Effective Control Mode
P08.03
after pausing 0~1 1 - Immediate P

0: Finish the residual stages

1: Operate from the start stage again

Range Default Unit Effective Control Mode

P08.04 Position instruction type selection
0~1 0 - Immediate P

0: Relative position instruction

1: Absolute position instruction

Range Default Unit Effective Control Mode

P08.05 Unit for waiting time
0~1 0 - Immediate P

0: The waiting time takes ‘ms’ as unit.

1: The waiting time takes ‘s’ as unit

Range Default Unit Effective Control Mode

Internal position control 1st stage
P08.06 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 1st stage max Range Default Unit Effective Control Mode
P08.08
speed 1~9000 200 1RPM Immediate P

P08.09 Internal position control 1st stage Range Default Unit Effective Control Mode

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acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.10
st
control 1 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 2nd stage
P08.11 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 2nd stage max Range Default Unit Effective Control Mode
P08.13
speed 1~9000 200 1RPM Immediate P

Internal position control 2nd stage Range Default Unit Effective Control Mode
P08.14
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.15
nd
control 2 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 3rd stage
P08.16 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 3rd stage max Range Default Unit Effective Control Mode
P08.18
speed 1~9000 200 1RPM Immediate P

Internal position control 3rd stage Range Default Unit Effective Control Mode
P08.19
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.20
rd
control 3 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 4th stage
P08.21 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 4th stage max Range Default Unit Effective Control Mode
P08.23
speed 1~9000 200 1RPM Immediate P

Internal position control 4th stage Range Default Unit Effective Control Mode
P08.24
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.25
control 4th stage completed 0~65535 0 1ms Immediate P

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Range Default Unit Effective Control Mode

Internal position control 5th stage
P08.26 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 5th stage max Range Default Unit Effective Control Mode
P08.28
speed 1~9000 200 1RPM Immediate P

Internal position control 5th stage Range Default Unit Effective Control Mode
P08.29
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.30
th
control 5 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 6th stage
P08.31 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 6th stage max Range Default Unit Effective Control Mode
P08.33
speed 1~9000 200 1RPM Immediate P

Internal position control 6th stage Range Default Unit Effective Control Mode
P08.34
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.35
th
control 6 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 7th stage
P08.36 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 7th stage max Range Default Unit Effective Control Mode
P08.38
speed 1~9000 200 1RPM Immediate P

Internal position control 7th stage Range Default Unit Effective Control Mode
P08.39
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.40
th
control 7 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 8th stage
P08.41 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

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Internal position control 8th stage max Range Default Unit Effective Control Mode
P08.43
speed 1~9000 200 1RPM Immediate P

Internal position control 8th stage Range Default Unit Effective Control Mode
P08.44
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.45
th
control 8 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 9th stage
P08.46 -1073741824~
length (32-bit) 10000 - Immediate P
1073741824

Internal position control 9th stage max Range Default Unit Effective Control Mode
P08.48
speed 1~9000 200 1RPM Immediate P

Internal position control 9th stage Range Default Unit Effective Control Mode
P08.49
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.50
th
control 9 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 10th
P08.51 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 10th stage max Range Default Unit Effective Control Mode
P08.53
speed 1~9000 200 1RPM Immediate P

Internal position control 10th stage Range Default Unit Effective Control Mode
P08.54
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.55
th
control 10 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 11th
P08.56 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 11th stage max Range Default Unit Effective Control Mode
P08.58
speed 1~9000 200 1RPM Immediate P

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Internal position control 11th stage Range Default Unit Effective Control Mode
P08.59
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.60
th
control 11 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 12th
P08.61 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 12th stage max Range Default Unit Effective Control Mode
P08.63
speed 1~9000 200 1RPM Immediate P

Internal position control 12th stage Range Default Unit Effective Control Mode
P08.64
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.65
th
control 12 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 13th
P08.66 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 13th stage max Range Default Unit Effective Control Mode
P08.68
speed 1~9000 200 1RPM Immediate P

Internal position control 13th stage Range Default Unit Effective Control Mode
P08.69
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.70
th
control 13 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 14th
P08.71 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 14th stage max Range Default Unit Effective Control Mode
P08.73
speed 1~9000 200 1RPM Immediate P

Internal position control 14th stage Range Default Unit Effective Control Mode
P08.74
acceleration/deceleration time 0~65535 10 1ms Immediate P

P08.75 Waiting time after internal position Range Default Unit Effective Control Mode

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control 14th stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 15th
P08.76 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 15th stage max Range Default Unit Effective Control Mode
P08.78
speed 1~9000 200 1RPM Immediate P

Internal position control 15th stage Range Default Unit Effective Control Mode
P08.79
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.80
th
control 15 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

Internal position control 16th
P08.81 -1073741824~
stage length (32-bit) 10000 - Immediate P
1073741824

Internal position control 16th stage max Range Default Unit Effective Control Mode
P08.83
speed 1~9000 200 1RPM Immediate P

Internal position control 16th stage Range Default Unit Effective Control Mode
P08.84
acceleration/deceleration time 0~65535 10 1ms Immediate P

Waiting time after internal position Range Default Unit Effective Control Mode
P08.85
th
control 16 stage completed 0~65535 0 1ms Immediate P

Range Default Unit Effective Control Mode

P08.86 Interrupt positioning setting
0~4 0 - Restart P

0: Disable interrupt positioning function;

1: Enable, interrupt at DI signal rising edge and release the interrupt automatically after completion.

2: Enable, interrupt at DI signal rising edge and release the interrupt via DI signal INTP_ULK (DI function 26).

3: Enable, interrupt at DI signal falling edge and release the interrupt automatically after completion.

4: Enable, interrupt at DI signal falling edge and release the interrupt via DI signal INTP_ULK (DI function 26).

Range Default Unit Effective Control Mode

P08.88 Homing start modes
0~4 0 - Restart P

0: OFF

1: Start by STHOME via DI function

2: Start by operation panel

3: Start by communication

4: Immediate start at first servo ON

P08.89 Homing modes Range Default Unit Effective Control Mode

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0~8 2 - Restart P

0: Forward origin search, take positive limit as origin

1: Backward origin search, take negative limit as origin

2: Forward origin search, take HOME_I N signal OFF→ON as origin

3: Backward origin search, take HOME_I N signal OFF→ON as origin

4: Forward origin search, take HOME_I N signal ON→OFF as origin

5: Backward origin search, take HOME_I N signal ON→OFF as origin

6: Forward, find the nearest Z-phase signal as origin

7: Backward, find the nearest Z-phase signal as origin

8: Take the present position as origin

Limit switch and Z-phase signal at Range Default Unit Effective Control Mode
P08.90
homing modes 0~5 2 - Restart P

0: Reverse to find Z-phase signal after contacting limit switch;

1: Forward to find Z-phase signal after contacting limit switch;

2: Not find Z-phase signal after contacting limit switch;

3: Reverse for Z-pulse signal after contacting limit switch, stops and alarm occurs (AL. 086)

4: Forward for Z-pulse signal after contacting limit switch, stop sand alarm occurs (AL. 086)

5: Not find Z-pulse signal after contacting limit switch, stops and alarm occurs (AL. 086)

Note: For contacting limit switch, if home modes is set to 0 to 1, even though this parameter is set to 3, 4 or 5, no alarm or stop.

If home modes is set to 0 to 1, find Z-phase signal after contacting limit switch; If home modes is set to 2 to 5, find Z-phase

signal after contacting HOME_I N signal.

Range Default Unit Effective Control Mode

P08.92 Origin search high speed
1~3000 500 1RPM Immediate P

Start with this speed when homing starts.

Range Default Unit Effective Control Mode

P08.93 Origin search low speed
1~300 50 1RPM Immediate P

Switch to low speed after contacting origin point or deceleration point.

Acceleration/deceleration time at origin Range Default Unit Effective Control Mode

P08.94
search 1~10000 1000 1ms Immediate P

Set the acceleration/deceleration time at the start/ stop of origin search.

Range Default Unit Effective Control Mode

P08.95 Homing time limit
1~65535 60000 1ms Immediate P

Limit the longest time of homing. If origin point is still not found after the time set in P08.95, AL.96 occurs and operation stops.

Range Default Unit Effective Control Mode

Origin point coordinate offset
P08.96 -1073741824~
(32-bit) 0 - Immediate P
1073741824

The absolute position counter will be cleared after finding the origin point or set the absolute position counter to the value of

this parameter.

Range Default Unit Effective Control Mode

Mechanical origin point offset
P08.98 -1073741824~
(32-bit) 0 - Immediate P
1073741824

System can move further in the distance set in this parameter after origin point is found.

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 P09 Group Communication Setting Parameters

Range Default Unit Effective Control Mode

P09.00 Modbus axis address
1~247 1 - Immediate P S T

Range Default Unit Effective Control Mode

P09.01 Modbus baud rate
0~6 2 - Immediate P S T

0: 2400bps

1: 4800bps

2: 9600bps

3: 19200bps

4: 38400bps

5: 57600bps

6: 115200bps

Range Default Unit Effective Control Mode

P09.02 Modbus data format
0~3 0 - Immediate P S T

0：No parity，8 data bit，2 stop bit

1：Even，8 data bit，1 stop bit

2：Odd，8 data bit，1 stop bit

3：No parity，8 data bit，1 stop bit

Range Default Unit Effective Control Mode

P09.03 Communication overtime
0~9999 0 1ms Immediate P S T

Range Default Unit Effective Control Mode

P09.04 Communication response delay
0~9999 0 1ms Immediate P S T

Range Default Unit Effective Control Mode

P09.05 Communication DI enabling setting 1 0000H ～

0 - Restart P S T
FFFFH

Bit0 is reserved. Bit1~Bit15 corresponds to DI functions 1-15.

0: Invalid

1: Valid

Range Default Unit Effective Control Mode

P09.06 Communication DI enabling setting 2 0000H ～

0 - Restart P S T
FFFFH

Bit0~Bit15 corresponds to DI functions 16-31.

0: Invalid

1: Valid

Range Default Unit Effective Control Mode

P09.07 Communication DI enabling setting 3 00000H ～

0 - Restart P S T
FFFFH

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Bit0~Bit15 corresponds to DI functions 32-47.

0: Invalid

1: Valid

Range Default Unit Effective Control Mode

P09.08 Communication DI enabling setting 4 0000H ～

0 - Restart P S T
FFFFH

Bit0~Bit15 corresponds to DI functions 48-63.

0: Invalid

1: Valid

Range Default Unit Effective Control Mode

P09.09 Communication DO enabling setting 1 0000H ～

0 - Restart P S T
FFFFH

Bit0 is reserved. Bit1~Bit15 corresponds to DO functions 1-15.

0: Invalid

1: Valid

Range Default Unit Effective Control Mode

P09.10 Communication DO enabling setting 2 0000H ～

0 - Restart P S T
FFFFH

Bit0~Bit15 corresponds to DO functions 16-31.

0: Invalid

1: Valid

Communication instruction holding Range Default Unit Effective Control Mode

P09.11
time 0~60 5 - Immediate P S T

This is the time that communication instruction maintains after disconnection.

0: 0.5 second.

1~60: unit is second.

Range Default Unit Effective Control Mode

Enable AO function or CAN
P09.12 0000H 〜
communication 0 - Restart P S T
FFFFH

Hexadecimal, from right to left,

First digit:

0： Enable CANOpen communication

1： Enable AO function

Other digits are reserved.

Range Default Unit Effective Control Mode

P09.13 CAN communication configuration 1 0000H 〜

5 - Restart P S T
FFFFH

Hexadecimal, from right to left,

First digit：CAN communication baud rate

0：20k；

1：50k；

2：100k；

3：125k；

4：250k；
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5：500k；

6：800k；

7：1M

Second digit： Electronic gear ratio setting

0：Drive setting；

1：Master setting

Third digit：Unit for speed

0： Using internal unit

1： Using user’s unit

Fourth digit： Unit for acceleration/deceleration

0：Using internal unit；

1：Using user’s unit

Range Default Unit Effective Control Mode

P09.14 CAN communication configuration 2 0000H 〜

0 - Restart P S T
FFFFH

Hexadecimal, from right to left,

First digit： Bus failure detection

0：Disabled，

1：Enabled

Second digit： Origin completion memory setting at absolute system

0：Not stored；

1：Stored

Range Default Unit Effective Control Mode

P09.15 CAN communication configuration 3
-20 〜+20 0 - Immediate P S T

 P17 Group Expansion position control Parameters

Range Default Unit Effective Control Mode

P17.00 External encoder using method
0 ～ 2 0 - Restart P

0： Position feedback, not using external encoder

1： Taking external encoder as position feedback, external encoder counting increase at motor CCW

2： Taking external encoder as position feedback, external encoder counting increase at motor CW

Range Default Unit Effective Control Mode

P17.01 External encoder pitch(32-bit) 0 ～

10000 - Restart P
1073741824

Set feedback pulse counts of external encoder per motor revolution:

0 ～ 1073741824

Range Default Unit Effective Control Mode

Full-closed hybrid deviation
P17.03 0 ～
threshold(32-bit) 10000 - Immediate P
1073741824

Range Default Unit Effective Control Mode

P17.05 Hybrid deviation counting setting
0 ～100 0 0.01 Restart P

P17.06 Hybrid vibration suppression gain Range Default Unit Effective Control Mode

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0 ～30000 400 0. 1/s Immediate P

Hybrid vibration suppression time Range Default Unit Effective Control Mode
P17.07
constant 0 ～30000 0 0.1ms Immediate P

Range Default Unit Effective Control Mode

Full-closed hybrid deviation external -107374182

P17.09 Display
unit(32-bit) 4 ～ 0 0.1ms P
only
1073741824

Range Default Unit Effective Control Mode

Internal encoder counting external -107374182

P17.11 Display
unit(32-bit) 4 ～ 0 - P
only
1073741824

Range Default Unit Effective Control Mode

External encoder counting -107374182

P17.13 Display
value(32-bit) 4 ～ 0 - P
only
1073741824

Range Default Unit Effective Control Mode

P17.16 Position comparison output mode 0000H ～

0 - Restart P
0003H

Setting range: 0 ～ 3，

0：Disable

1：Forward trigger，

2：Reverse trigger，

3：Bi-directional trigger

“Position comparison” means the comparison between the value of P17. 17 to P17. 23 and P21. 07. “Forward trigger” means

the “Absolute position feedback” changes from small to large.

Range Default Unit Effective Control Mode

-107374182
P17.17 First position(32-bit)
4 ～ 0 - Immediate P

1073741824

Range Default Unit Effective Control Mode

-107374182
P17.19 2nd position(32-bit)
4 ～ 0 - Immediate P

1073741824

Range Default Unit Effective Control Mode

rd
P17.21 3 position(32-bit) -107374182
0 - Immediate P
4 ～

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1073741824

Range Default Unit Effective Control Mode

-107374182
P17.23 4th position(32-bit)
4 ～ 0 - Immediate P

1073741824

Range Default Unit Effective Control Mode

P17.25 Effective time 1
0 ～65535 0 1ms Immediate P
st
The time to output effective time is 0 ～ 65535ms after 1 position reached.

Range Default Unit Effective Control Mode

P17.26 Effective time 2
0 ～65535 0 1ms Immediate P
st
The time to output effective time is 0 ～ 65535ms after 1 position reached.

Range Default Unit Effective Control Mode

P17.27 Effective time 3
0 ～65535 0 1ms Immediate P
st
The time to output effective time is 0 ～ 65535ms after 1 position reached.

Range Default Unit Effective Control Mode

P17.28 Effective time 4
0 ～65535 0 1ms Immediate P
st
The time to output effective time is 0 ～ 65535ms after 1 position reached.

 P18 Group Motor Parameters

Range Default Unit Effective Control Mode

P18.00 Motor model code
0~65535 20060 - Restart P S T

**001~**499: low inertia motor;

*1000~*1499: medium inertia motor;

*2000~*2499: high inertia motor;

The motor code with mechanical brake is “1” larger than the same model without mechanical brake.

1****: voltage class is 110VAC

2****: voltage class is 220VAC

3****: voltage class is 380VAC

 P20 Group Panel and Communication Interface Parameters

Range Default Unit Effective Control Mode

P20.00 Panel JOG
0～2000 0 - Restart P S T

0～Rated speed of motor

Range Default Unit Effective Control Mode

P20.01 Fault reset
0 ～ 9 0 - Restart P S T

0: no reset

1: reset

Range Default Unit Effective Control Mode

P20.03 Parameter identification function
0~5 0 - Restart P S T

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0: No operation;

1: Forward-rotation inertia identification;

2: Reverse-rotation inertia identification

3: Reserved;

4: Reserved;

5: Encoder initial angle identification.

Analog input automatic offset Range Default Unit Effective Control Mode
P20.05
adjustment 0~2 0 - Restart P S T

0: no operation

1: AI1 adjustment

2: AI2 adjustment

Range Default Unit Effective Control Mode

P20.06 System initialization function
0~9 0 - Restart P S T

0: No operation;

1: Restore factory defaults;

2: Clear fault records;

7: Absolute encoder reset

Other values are reserved.

Communication operation instruction Range Default Unit Effective Control Mode

P20.08
input 0~65535 0 - Immediate

0: No operation or stop operation;

1~3000: JOG speed, unit is rpm;

1102H: Communication forward JOG;

1103H: Communication reverse JOG;

1300H: Forward-rotation inertia identification;

1301H: Reverse-rotation inertia identification;

1302H: Store inertia identification values;

1500H: Encoder initial angle identification.

Communication operation status Range Default Unit Effective Control Mode

P20.09
output 0~65535 0 - Display only P S T

0: identification in progress;

1: identification fault;

2: identification completed;

3: identification value store.

Multi-stage operation selection by Range Default Unit Effective Control Mode

P20.11
communication 0~16 0 - Immediate P S

Range Default Unit Effective Control Mode

P20.12 Homing start by communication
0~1 0 - Immediate P

0: No operation;

1: Homing start.

 P21 Group Status Parameters

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Range Default Unit Effective Control Mode

P21.00 Servo status
0~65535 0 1us Display only P S T

Range Default Unit Effective Control Mode

P21.01 Motor speed feedback(32-bit)
-9000~9000 0 1RPM Display only P S T

Range Default Unit Effective Control Mode

P21.03 Speed instruction
-9000~9000 0 1RPM Display only P S T

Internal torque instruction (relative to Range Default Unit Effective Control Mode
P21.04
rated torque) -5000~5000 0 0.1% Display only P S T

Range Default Unit Effective Control Mode

P21.05 Phase current effective value
0~65535 0 0.01A Display only P S T

Range Default Unit Effective Control Mode

P21.06 DC bus voltage
0~65535 0 0.1V Display only P S T

Absolute position Range Default Unit Effective Control Mode

P21.07
counter (32-bit) -1073741824~1073741824 0 1unit Display only P S T

Range Default Unit Effective Control Mode

P21.09 Electrical angle
0~65535 0 0.1⁰ Display only P S T

Mechanical angle (relative to encoder Range Default Unit Effective Control Mode
P21.10
zero point) 0~65535 0 0.1⁰ Display only P S T

Range Default Unit Effective Control Mode

P21.11 Load inertia identification value
0~65535 0 0.01kg*cm2 Display only P S T

Speed value relative to input Range Default Unit Effective Control Mode
P21.12
instruction -9000~9000 0 1RPM Display only P S T

Position deviation Range Default Unit Effective Control Mode

P21.13
counter (32-bit) -1073741824~1073741824 0 1p Display only P S T

Input pulse counter Range Default Unit Effective Control Mode

P21.15
(32-bit) -1073741824~1073741824 0 1Unit Display only P S T

Feedback pulse Range Default Unit Effective Control Mode

P21.17
counter (32-bit) -1073741824~1073741824 0 1p Display only P S T

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Position instruction Range Default Unit Effective Control Mode

P21.19 deviation counter unit

-1073741824~1073741824 0 1Uni t Display only P S T
(32-bit)

Range Default Unit Effective Control Mode

P21.21 Digital input signal monitoring
0~511 0 - Display only P S T

Display the status of DI to DI9 in real-time.

When the third digit of P07. 21 from the right side is 0 and DI is high level, the panel displays the upper half; When the DI is low

level, the panel displays the lower half. It is DI 1 to DI9 from the right to left.

When the third digit of P07. 21 from the right side is 1, represented by binary 1 at high level; represented by binary 0 at low

level. DI 1 to DI9 use binary BIT0 to BIT8 respectively.

DI1
DI2

DI3

DI4

DI5

DI6

DI7

DI8

DI9

DI terminal output high level display

DI1
DI2

DI3

DI4

DI5

DI6

DI7

DI8

DI9

DI terminal output low level display

Range Default Unit Effective Control Mode

P21.23 Digital output signal monitoring
0~511 0 - Display only P S T

Display the status of DO1 to DO9 in real-time.

When the third digit of P07. 21 from the right side is 0 and DO is high level, the panel displays the upper half; When the DO is

low level, the panel displays the lower half. It is DO 1 to DO9 from the right to left.

When the third digit of P07. 21 from the right side is 1, represented by binary 1 at high level; represented by binary 0 at low

level. DO 1 to DO9 use binary BIT0 to BIT8 respectively.

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DI1
DI2

DI3

DI4

DI5

DI6

DI7

DI8

DI9

DO terminal output high level display

DO1
DO2

DO3

DO4

DO5

DO6

DO7

DO8

DO9

DO terminal output low level display

Range Default Unit Effective Control Mode

P21.24 Encoder status
0 〜65535 0 - Display only P S T

Range Default Unit Effective Control Mode

P21.25 Total power-on time(32-bit)
0~2147483647 0 0.1s Display only P S T

Range Default Unit Effective Control Mode

P21.27 AI 1 voltage after adjustment
-32768~32767 0 1mV Display only P S T

Range Default Unit Effective Control Mode

P21.28 AI 2 voltage after adjustment
-32768~32767 0 1mV Display only P S T

Range Default Unit Effective Control Mode

P21.29 AI 1 voltage before adjustment
-32768~32767 0 1mV Display only P S T

Range Default Unit Effective Control Mode

P21.30 AI 2 voltage before adjustment
-32768~32767 0 1mV Display only P S T

Range Default Unit Effective Control Mode

P21.31 Module temperature
0~65535 0 1℃ Display only P S T

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Number of turns of Range Default Unit Effective Control Mode
P21.32
absolute encoder (32-bit) -1073741824~1073741824 0 - Display only P S T

Single turn position of Range Default Unit Effective Control Mode

P21.34
absolute encoder (32-bit) -1073741824~1073741824 0 1Uni t Display only P S T

Range Default Unit Effective Control Mode

P21.36 Version code 1
0~65535 0 0.01 Display only P S T

Range Default Unit Effective Control Mode

P21.37 Version code 2
0~65535 0 0.01 Display only P S T

Range Default Unit Effective Control Mode

P21.38 Version code 3
0~65535 0 0.01 Display only P S T

Range Default Unit Effective Control Mode

P21.39 Product series code
0~65535 0 - Display only P S T

Range Default Unit Effective Control Mode

P21.40 Fault record display
0 ～ 9 0 - Immediate P S T

0: Last fault

1: Second-from-last fault

2: Third-from-last fault

9: Tenth-from-last fault

Range Default Unit Effective Control Mode

P21.41 Fault code
0 ～ 65535 0 - Display only P S T

Time stamp upon selected fault Range Default Unit Effective Control Mode
P21.42
(32-bit) 0~2147483647 0 0.1s Display only P S T

Total power-on time upon fault.

Range Default Unit Effective Control Mode

P21.44 Motor speed upon selected fault
-9000~9000 0 1RPM Display only P S T

Range Default Unit Effective Control Mode

P21.45 U-phase current upon selected fault
0~65535 0 0.01A Display only P S T

Range Default Unit Effective Control Mode

P21.47 DC bus voltage upon selected fault
0~65535 0 0.1V Display only P S T

Input terminal status upon selected Range Default Unit Effective Control Mode
P21.48
fault 0~511 0 - Display only P S T

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Output terminal status upon selected Range Default Unit Effective Control Mode
P21.49
fault 0~511 0 - Display only P S T

Range Default Unit Effective Control Mode

P21.51 Accumulative load ratio
0~500 0 1% Display only P S T

Range Default Unit Effective Control Mode

P21.52 Regenerative load ratio
0~500 0 1% Display only P S T

Range Default Unit Effective Control Mode

P21.53 Internal warning code
0~65535 0 - Display only P S T

Range Default Unit Effective Control Mode

P21.54 Internal instruction present stage code
0~99 0 - Display only P S T

Range Default Unit Effective Control Mode

P21.55 Customized product serial code
0~65535 - N/A Display only P S T

Range Default Unit Effective Control Mode

High 32 place value of absolute

P21.56
position counter -1073741824~10 - N/A Display only P S T
73741824

This is applicable when absolute position is 64-bit (32bit+32bit)

Range Default Unit Effective Control Mode

High 32 place value of feedback pulse
P21.58 -1073741824~10
counter (32-bit) - N/A Display only P S T
73741824

This is applicable when feedback pulse is 64-bit (32bit+32bit)

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8. Gain tuning

8.1 Gain tuning introductions

A good servo system is steady, fast and accurate. It can execute position, speed and torque instructions without delay. It is

therefore necessary to adjust gains of the servo drives. See example below:

Gains setting grade Low High High, with feedforward

Position loop gain (1/s) 20.0 100.0 100.0

Speed loop gain (Hz) 50 50 50

Speed loop integral time 50 50 50

Speed feedforward 0 0 50.0

Load ratio 1.00 1.00 1.00

After confirming the compatibility of servo drive and servo motor, user can follow procedures below for gain tuning:

Figure 8.2 Gain tuning procedures

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8.2 Automatic gain tuning (auto-tuning)

8.2.1 Function descriptions

Automatic gain tuning (auto-tuning) means servo drive can generate a group of gain parameters matching the load through

P0.03 (stiffness grade setting). Before initialing auto-tuning, user should first conduct load inertia identification (auto or

manual). There are mainly two type of auto-tuning. Standard auto-tuning (P0.02=1) is suitable for speed and torque control.

Positioning mode with gain switchover (P0.02=2) is suitable for position control.

Depending on load, below are some recommended values of P0.03:

5~8: machines with sophisticated transmissions;

9~14: systems with belts or cantilever beams;

15~20: systems with ball screws, pinions and racks or direct driving.

The procedures for auto-tuning is illustrated below:

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Figure 8.3 Auto-tuning procedures

Relevant parameters:

P00 02 Real time auto-tuning 0: Invalid; 1 0 Immediate Set at stop PST

1: Standard

auto-tuning

2: Positioning mode

P00 03 Stiffness grade setting 0~31 1 12 Immediate Set at operation PST

P00 04 Load inertia ratio 0~60.00 0.01 1.00 Immediate Set at operation PST

Therese parameters are updated automatically based on stiffness grade settings:

Parameter Description Setting range Unit Update

P01 00 Position loop gain 1 1. 0 1/s～2000. 0 1/s 0. 1 1/s Automatic

P01 01 Speed loop gain 1 1. 0Hz～2000. 0Hz 0.1Hz Automatic

P01 02 Speed loop integral time 1 0. 15ms～512. 00ms 0.01ms Automatic

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P01 04 Torque instruction filter 1 0. 00ms～100. 00ms 0.01ms Automatic

P01 05 Position loop gain 2 1. 0 1/s～2000. 0 1/s 0. 1 1/s Automatic

P01 06 Speed loop gain 2 1. 0Hz～2000. 0Hz 0.1Hz Automatic

P01 07 Speed loop integral time 2 0. 15ms～512. 00ms 0.01ms Automatic

P01 09 Torque instruction filter 2 0. 00ms～100. 00ms 0.01ms Automatic

These parameters are set to be fixed values:

Parameter Description Setting range Unit Reference

value

P01 03 Speed detection filter 1 0. 00ms～100. 00ms 0. 01ms 0. 00ms

P01 08 Speed detection filter 2 0. 00ms～100. 00ms 0. 01ms 0. 00ms

P01 12 Speed feedforward gain 0. 0%～100. 0% 0.1% 30. 0%

P01 13 Speed feedforward filtering time 0. 00ms～64. 00ms 0.01ms 0. 50ms

P01 15 Torque feedforward gain 0. 0%～100. 0% 0.1% 0. 0%

P01 16 Torque feedforward filtering time 0. 00ms～64. 00ms 0.01ms 0. 00ms

These parameters are updated on conditions:

Parameter Description Description Unit Reference

value

P01 0：Gain 1 fixed 1 10

1：Gain 2 fixed

2：Via DI input（GAIN-SWITCH）

3：Torque instruction is large

4：Speed instruction changes

sharply

18 Position control switchover mode 5：Speed instruction is large

6：Position deviation is large（P)

7：With position instruction（P)

8：Positioning not completion（P)

9：Actual speed is large（P)

10：With position instruction +

actual speed（P)

P01 19 Position control gain switchover delay 0~1000. 0ms 0.1ms 5. 0ms

P01 20 Position control gain switchover grade 0~20000 1 50

P01 Position control gain switchover 0~20000 1 33

21
hysteresis

P01 22 Position control gain switchover time 0~1000. 0ms 0.1ms 3. 3ms

8.3 Adaptive filtering

Adaptive filtering means during operation, the servo drive can analyze the resonance frequency based on motor feedback and

adjust notch filter parameters accordingly to reduce vibrations. This function is only applicable to position control and speed

control, and the motor is in normal operation state (without speed limit, torque limit, over-travel or position deviation

clearance).

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In addition, adaptive filtering could be invalid if:

 Resonance frequency is lower than 3 times speed response frequency;

 Resonance peak value is low, or gain is low which makes resonance effects are negligible to control performance;

 There are more than 3 resonance points;

 Motor speed changes rapidly due to non-linear mechanical factors;

 Rapid accelerations over 30000rpm/s.

Procedures of adaptive filtering:

 Set P02.02 to 1, 2 or 3 and run the servo;

 The servo drive will detect resonance points which can be display in parameters P02.31 to P02.36;

 Set P02.02=1 and 3rd notch filter will work. Check is vibrations are suppressed and if so, set P02.02=0;

 If vibrations still occur, set P02.02=2 and both 3rd & 4th notch filters will work. Check is vibrations are suppressed and if so,

set P02.02=0;

 If there are still some vibrations, adjust parameters of 1st & 2nd notch filters manually.

Relevant parameters:

Parameter Description Range Smallest Factory

unit setting
rd th
P02 02 Adaptive filter 0: Adaptive invalid, 3 & 4 filters are functioning but 1 0

mode parameters are not updated;

1: Only 3rd filter is functioning with updated parameters;

2: 3rd & 4th filters are functioning with updated parameters;

3: Resonance frequency testing, but parameters are not

updated;

4: Clear adaptive records, 3rd & 4th filters are not functioning.

P02 31 Resonance point 1 1Hz Display

50～5000Hz
frequency parameter

P02 32 Resonance point 1 1 Display

0~20
bandwidth parameter

P02 33 Resonance point 1 1 Display

0~99
amplitude parameter

P02 34 Resonance point 2 1Hz Display

50～5000Hz
frequency parameter

P02 35 Resonance point 2 1 Display

0~20
bandwidth parameter

P02 36 Resonance point 2 1 Display

0~99
amplitude parameter

Therese parameters are updated automatically:

P02 10 Third notch filter frequency 50～5000Hz 1Hz 5000Hz

P02 11 Third notch filter width 0~20 1 2

P02 12 Third notch filter depth 0~99 1 0

P02 13 Fourth notch filter frequency 50～5000Hz 1Hz 5000Hz

P02 14 Fourth notch filter width 0~20 1 2

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P02 15 Fourth notch filter depth 0~99 1 0

8.4 Manual gain tuning

8.4.1 Introduction

X3E series servo auto-tuning is sufficiently functioning for most applications however for some sophisticated loads,

auto-tuning may not yield the best performance and user needs to adjust gain parameters manually. When doing manual

tuning, user can use Servostudio software to monitor response curves which can be the guidance for adjusting parameters.

8.4.2 Position control tuning

Procedures:

1. Set P00.04 (load inertia ratio) automatically (by load inertia identification) or manually.

2. Initialize parameters below to factory defaults:

P01 40.0 P02 04 First notch filter frequency 5000

00 Position loop gain 1
1/s (manual)

P01 20. 0HZ P02 07 Second notch filter 5000

01 Speed loop gain 1
frequency (manual)

P01 02 Speed loop integral time 1 30. 00ms P02 10 Third notch filter frequency 5000

P01 03 Speed detection filter 1 0. 00ms P02 13 Fourth notch filter frequency 5000

P01 1. 00ms P02 19 Position instruction FIR filter 0

04 Torque instruction filter 1
2

P01 40.0 P02 20 First vibration attenuation 0

05 Position loop gain 2
1/s frequency

P01 20. 0HZ P02 22 Second vibration attenuation 0

06 Speed loop gain 2
frequency

P01 30. 00ms P01 18 Position control gain 0

07 Speed loop integral time 2
switchover mode

P01 0. 00ms P01 23 Position control gain 0

08 Speed detection filter 2
switchover time

P01 09 1. 00ms P01 27 Torque control gain 0

Torque instruction filter 2
switchover mode

P01 10 Speed regulator PDFF 100. 0% P01 12 0

Speed feedforward gain
coefficient

P02 00 Position instruction 0 P01 13 Speed feedforward filtering 0

smoothing filter time

P02 01 Position instruction FIR filter 0

P00 02 Real time auto-tuning 0

P02 02 Adaptive filtering mode 0

3. Target value of gain parameters:

Parameter Descriptions Target Remarks

50.0 If positioning time is too long, increase P01.00. Otherwise reduce it.
P01 00 Position loop gain 1
1/s

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If there are no noises, vibrations or overshoots, increase P01.01.
P01 01 Speed loop gain 1 30Hz
Otherwise reduce it.

If user reduces this value, positioning time will be shortened but may
Speed loop integral 25.
P01 02 cause vibrations. If this value is too large, position deviation may not
time 1 00ms
be able to converge to 0.

Torque instruction Increase this parameter if there are vibrations. This parameter is
P01 04 0.5ms
filter 1 positively related to P01.02.

To use feedforward, fist set P01.11=1. If there are no noises or

Speed feedforward vibrations, increase P01.12. This can reduce real-time position
P01 12 30%
gain deviations. If input instructions are inhomogeneous, increase the

value of P01.13.

8.4.3 Speed control tuning

Speed control tuning is similar to position control tuning except for P01.00, P01.05, P01.12 and P01.13, which are for position

control only.

8.4.4 Gain switchover function

Gain switchover function has effects below:

 Suppress vibrations at stop and enhance servo dynamic response following performances;

 Shorten positioning time;

 Switchover by external signals.

Figure 8.4 Gain switching example

Procedures

1. Adjust Group 1 gains manually without gain switching function;

2. Copy Group 1 parameter settings to Group 2;

3. Set gain switchover conditions. For example set P01.18=7 for position control; also adjust P01.19~P01.22 if necessary (can

use defaults);

4. When instruction stops, reduce P01.01 (Speed loop gain 1) and slightly increase P01.04 (Torque instruction filter 1) so as to

reduce noises and vibrations at stop.

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Gain switchover (from Group 1 to Group 2) conditions

Switchover Switchover Switchover

Switchover conditions Chart delay grade hysteresis

Mode
P01.18, P01.23, P01.27 No. P01.19, P01.24, P01.20, P01.25, P01.21, P01.26,

P01.28 P01.29 P01.30

0 Group 1 gains (fixed) PST Not applicable Not applicable Not applicable

1 Group 2 gains (fixed) PST Not applicable Not applicable Not applicable

2 Use GAIN_SEL signal PST Not applicable Not applicable Not applicable

3 Torque instruction PST A Applicable Applicable (%) Applicable (%)

Applicable
4 Speed instruction variation S B Applicable Not applicable
(10rpm/s)

5 Speed instruction PS C Applicable Applicable (1rpm/s) Applicable (1rpm/s)

6 Position deviation P D Applicable Applicable (1 unit) Applicable (1 unit)

7 Position instruction P E Applicable Not applicable Not applicable

8 Positioning completion P F Applicable Not applicable Not applicable

9 Speed feedback P C Applicable Applicable (1rpm/s) Applicable (1rpm/s)

10 Position completion & speed feedback P G Applicable Applicable (1rpm/s) Applicable (1rpm/s)

Notes:

 Please refer to Figure 8.5 Gain Switchover Sequence Charts for chart No.;

 When using GAIN_SEL please refer to P01.17 settings (P/PI or Group 1/Group switchover);

 Delay time is only effective for switching from Group 2 back to Group 1;

 If P0.18=10, relevant parameter definitions are different from other modes.

Figure 8.5 Gain Switchover Sequence Charts

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8.4.5 Feedforward function

In position control, actual speed control instruction is the composite of speed instruction regulated by feedback and speed

feedforward which is calculated from position instructions. Compared with a system which only utilized feedback control,

feedforward system can reduce real-time position deviations and enhance system responsive characteristics. The larger

speed feedforward is, the smaller position deviation is. Theoretically, when speed feedforward is 100%, position deviation can

be 0. See formula below:

Position Deviation = (Position Instruction Speed/Position Loop Gains) * (100% - Speed Feedforward Gain)

Similarly in speed control, actual torque control instruction is the composite of torque instruction regulated by feedback and

torque feedforward which is calculated from speed instructions. Compared with a system which only utilized feedback control,

feedforward system can reduce real-time speed deviations and enhance system responsive characteristics. In position control,

torque feedforward can reduce position deviations during constant acceleration period, however P00.04 must be set correctly.

If feedforward gain is too large, system may suffer from overshoot, vibrations or noises. To adjust feedforward under such

circumstances, user can reduce feedforward gain or increase feedforward filtering time.

Relevant parameters:

Parameter Description Range Smallest Factory

unit setting

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Speed feedforward control 0: no speed feedforward 1 0
P01 11
selection 1: internal speed feedforward

P01 12 Speed feedforward gain 0.0%~100.0% 0. 1% 30. 0%

P01 Speed feedforward filtering 0. 01ms 0. 50ms

13 0.00ms~64.00ms
time

0: no torque feedforward 1 0

Torque feedforward control 1: internal torque feedforward

P01 14
selection 2: use TFFD as torque feedforward

input

P01 15 Torque feedforward gain 0.0%~100.0% 0. 1% 0. 0%

P01 Torque feedforward filtering 0. 01ms 0. 00ms

16 0.00ms~64.00ms
time

Torque feedforward source can be external analog input from upper controllers. To do this, set P01.14=2 and set relevant

parameters in analog input.

8.4.6 Mechanical resonance suppression

Mechanical systems has certain resonance frequencies. When servo gain increases, resonances might be caused around

system resonance frequencies and prevent servo gains from further increasing. There are two ways to counter resonances:

1. Torque instruction filters (P01.04, P01.09)

Torque instruction filter is a low-pass digital filter which can reduce resonances by attenuating torque instruction

frequencies around or above cut-off frequencies through settings of filtering time.

Filter cut-off frequency = 1000 / (2π * Torque instruction filter)

2. Notch filters

Notch filter is a band-stop digital filter. ACTION TECHNOLOGY A3E servo drive has 4 groups of notch filters including

both manual and adaptive filters. For adaptive filtering, refer to 8.3.

Parameter Description Range Smallest Factory

unit setting
st
P02 04 1 notch filter frequency(manual) 50～5000Hz 1Hz 5000Hz
st
P02 05 1 notch filter width 0～20 1 2
st
P02 06 1 notch filter depth 0～99 1 0
nd
P02 07 2 notch filter frequency(manual) 50～5000Hz 1Hz 5000Hz

P02 08 2nd notch filter width 0～20 1 2

P02 09 2nd notch filter depth 0～99 1 0

P02 10 3rd notch filter frequency 50～5000Hz 1Hz 5000Hz

P02 11 3rd notch filter width 0～20 1 2

P02 12 3rd notch filter depth 0～99 1 0

P02 13 4th notch filter frequency 50～5000Hz 1Hz 5000Hz

P02 14 4th notch filter width 0～20 1 2

P02 15 4th notch filter depth 0～99 1 0

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Figure 8.6 Notch filter characteristics

Notch filter frequency is f0. Notch filter width Kw = (f2-f1) / f0.

Figure 8.7 Notch filter depth is 1 or 0

Figure 8.8 Notch filter in servo control

8.4.7 Low frequency vibration suppression

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When the load is stopping during positioning, if its ending is too long, the ending might vibrate at low frequency and causes

periodic vibrations in positioning. In such situations, please observe waveforms triggered by position instructions through

Servostudio software and calculate low frequency vibration frequency and attenuation coefficient (A1 / A0) and set parameters

in P02.20 & P02.21. Then observe the waveform again and of low frequency vibration still occurs, set parameters in P02.22 &

P02.23. Refer to figure below:

Figure 8.8 Low frequency vibration waveform

Related parameters:

Parameter Description Range Smallest Factory

unit setting
st
P02 20 1 damping frequency 10. 0HZ~100. 0HZ 0. 1Hz 0. 0Hz
st
P02 21 1 damping filter setting 0~1. 0 0. 1 0
t
P02 22 2nd damping frequency 10. 0HZ~100. 0HZ 0. 1Hz 0. 0Hz

P02 23 2nd damping filter setting 0~1. 0 0. 1 0

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9. Fault protections and alarms

9.1 List of errors and alarms

Code Description Stop mode Reset (Y/N) Record memory

Err.001 System parameter abnormal Stop immediately N No memory

Err.002 Product model selection fault Stop immediately N No memory

Err.003 Fault during parameter storage Stop immediately N No memory

Err.004 FPGA fault Stop immediately N No memory

Err.005 Product matching fault Stop immediately N No memory

Err.006 Program abnormal Stop immediately N No memory

Err.007 Encoder initialization abnormal Stop immediately N Memory

Err.008 Short circuit to ground detection fault Stop immediately N Memory

Err.009 Overcurrent fault 1 Stop immediately N Memory

Err.010 Overcurrent fault 2 Stop immediately Y Memory

Incremental encoder Z breakage or absolute

Err.012 Stop immediately Y Memory
encoder number of turns abnormal

Err.013 Encoder communication abnormal Stop immediately Y Memory

Err.014 Encoder data abnormal Stop immediately Y Memory

Err.015 Encoder battery undervoltage Stop immediately N Memory

Err.016 Speed deviation too large Configurable Y Memory

Err.017 Torque saturation overtime Configurable Y Memory

Err.018 Control power undervoltage Configurable Y Memory

Err.019 Tripping error Configurable Y Memory

Err.020 Overvoltage Stop immediately Y Memory

Err.021 Undervoltage Decelerate to stop Y Configurable

Err.022 Current sampling fault Stop immediately Y Memory

Err.023 AI sampling voltage too large Stop immediately Y Memory

Err.024 Overspeed Stop immediately Y Memory

Err.025 Electrical angle identification failure Stop immediately Y No memory

Err.026 Load identification failure Stop immediately Y No memory

Err.027 DI parameter setting fault Stop immediately Y No memory

Err.028 DO parameter setting fault Stop immediately Y No memory

Err.040 S-ON instruction invalid fault Configurable Y No memory

Err.042 Pulse division output overspeed Configurable Y Memory

Err.043 Position deviation too large Configurable Y Memory

Err.044 Main circuit input phase loss Configurable Y Memory

Err.045 Drive output phase loss Configurable Y Memory

Err.046 Drive overload Configurable Y Memory

Err.047 Motor overload Configurable Y Memory

Err.048 Electronic gear setting fault Configurable Y No memory

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Err.049 Heat sink too hot Configurable Y Memory

Err.050 Pulse input abnormal Configurable Y Memory

Err.051 Full-closed loop position deviation too large Configurable Y Memory

Err.054 User forced fault Configurable Y Memory

Err.055 Absolute position resetting fault Configurable Y Memory

Err.056 Main circuit outage Decelerate to stop Y Memory

Err.060 First start after writing customized software Stop immediately N Configurable

Err.065 CAN bus off Configurable Y Memory

Err.066 Abnormal NMT instruction Configurable Y Memory

Err.067 CAN bus failure Decelerate to stop Y Memory

Err. 068 External overspeed(reserved) Stop immediately Y Memory

Err. 069 Hybrid deviation too large Configurable Y Memory

Err. 071 Node protection or heartbeat timeout Configurable Y Memory

Err. 072 Synchronization failure Configurable Y Memory

Err. 073 CANOpen track buffer underflow Configurable Y Memory

Err. 074 CANOpen track buffer overflow Configurable Y Memory

AL.080 Undervoltage warning No stop Y No memory

AL.081 Drive overload warning No stop Y Memory

AL.082 Motor overload warning No stop Y Memory

AL.083 Parameter modification needs power restart No stop Y No memory

AL.084 Servo not ready No stop Y No memory

AL.085 EEPROM frequency writing warning No stop Y No memory

AL.086 Positive over-travel warning No stop Y No memory

AL.087 Negative over-travel warning No stop Y No memory

AL.088 Positive instruction overspeed No stop Y No memory

AL.090 Absolute encoder angle initialization warning No stop Y Memory

AL.093 Regenerative overload No stop Y Memory

AL.094 Regenerative resistor too small No stop Y No memory

AL.095 Emergency stop Decelerate to stop Y No memory

AL.096 Homing error Decelerate to stop Y No memory

AL.097 Encoder battery undervoltage No stop Y No memory

9.2 Troubleshooting

Code Description Causes Troubleshooting measures

1. Control circuit power suddenly drops; 1. Make sure input power is within

System parameter 2. After updating servo software, some specified range;

Err.001
abnormal previously saved parameters exceed 2. Set P20.06=1 to initialized system

settings range. parameters.

1. Encoder cable connection broken or 1. Check and fasten encoder cable;

Product model
Err.002 loose; 2. Replace with valid drive or motor
selection fault
2. Invalid drive or motor model. model.

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1. Parameter reading/writing too frequent; 1. Check if upper controller is

2. Parameter storage component fault; reading/writing E2PROM too frequent;

Fault during
Err.003 3. Control circuit power unstable; 2. Check control circuit power cable and
parameter storage
4. Drive fault. ensure control circuit power voltage is

within specified range.

Err.004 FPGA fault Software version fault. Check if software version is correct.

1. Encoder cable connection broken or 1. Check and fasten encoder cable;

loose; 2. Replace products that don’t match;

2. Use third-party encoder which is not 3. Choose correct encoder type or

Product matching supported; replace the drive.

Err.005
fault 3. Motor capacity and drive capacity don’t

match. Motor capacity class is larger than

or two levels off the drive;

4. Product model code doesn’t exist.

1. System parameter abnormal; Set P20.06=1 to initialized system

Err.006 Software abnormal
2. Drive internal fault. parameters and restart power.

Encoder initialization Encoder signal abnormal at power on. Check or replace encoder cable.
Err.007
abnormal

1. UVW wiring fault; 1. Check if UVW is short circuited to

Short circuit to 2. Motor breakdown; ground. If so replace cable;

Err.008 ground detection 3. Drive fault. 2. Check if motor cable or grounding

fault resistance is abnormal. If so replace the

motor.

1. Instruction input is too fast; 1. Check instruction input time sequence

2. Regenerative resistor too small or short and input after S-RDY;

circuited; 2. Replace regenerative resistor;

3. Motor cable bad contact; 3. Check and fasten encoder cable;

4. Motor cable grounding; 4. Replace motor if UVW insulation

5. Motor UVW short circuited; resistor is broken;

Err.009 Overcurrent fault 1
6. Motor burnt; 5. Check if UVW is short circuited;

7. Software detected power transistor 6. Replace motor if UVW don’t have

overcurrent equal resistance;

7. Reduce load, use bigger drive and

motor, increase acceleration/deceleration

time.

Err.010 Overcurrent fault 2 Same as Err.009 Same as Err.009

Incremental encoder: Z-phase signal loss 1. Rotate motor shaft manually, if error
Incremental encoder
due to cable breakage or encoder fault; still occurs, replace cable or encoder;
Z breakage or
Absolute encoder: battery shortage, 2. Replace battery if undervoltage;
Err.012 absolute encoder
encoder cable plugging & unplugging 3. P20.06=7 and initialize.
number of turns
during power off, or after P06.47=1 not
abnormal
initialize the encoder.

Encoder 1. Communicational encoder cable 1. Check or replace encoder cable;

Err.013
communication breakage; 2. Check if encoder is grounded properly.

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abnormal 2. Encoder not grounded;

3. Communication verification abnormal.

1. Serial encoder breakage or bad contact; Check or replace encoder cable.

Encoder data
Err.014 2. Serial encoder data reading/writing
abnormal
abnormal

Encoder battery Encoder battery voltage is less than Replace encoder battery.
Err.015
undervoltage P06.48 and ten’s place of P06.47 is 1.

Speed instruction and speed feedback 1. Increase P06.45 value;

deviation exceeds settings of P06.45. 2. Increase acceleration/deceleration

Speed deviation too
Err.016 time or increase system responsiveness;
large
3. Set P06.45=0 to disable speed

deviation too large function.

Torque saturation Torque maintains saturated for time longer 1. Increase P06.46 value;
Err.017
overtime than settings of P06.46. 2. Check if UVW is broken.

Control power Poor input wiring or input power failure 1. Check input power and wiring
Err.018
undervoltage 2. Replace driver

Motor stall due to incorrect wiring 1. Check UVW and encoder wiring
Err.019 Tripping error
2. Check drive and motor

1. Input power voltage exceeds 280VAC; 1. Check input power voltage;

2. Regenerative resistor breakage or not 2. Check or replace regenerative resistor;

Err.020 Overvoltage matching; 3. Increase acceleration/deceleration

3. Load inertia exceeds allowable range; time or replace more suitable drive/motor.

4. Drive broken.

1. Input power voltage drops; 1. Make sure input power is stable;

2. Instantaneous power off; 2. Reduce P06.36 value if input power is

Err.021 Undervoltage
3. P06.36 setting is too high; normal.

4. Drive broken (Memory is configurable by P07.19)

Current sampling Drive internal current sampling fault. Replace servo drive.
Err.022
fault

AI sampling voltage 1. AI wrong wiring; Do correct AI wiring and set input power
Err.023
too large 2. AI external input power voltage too high voltage within ±10V.

1. Speed instruction exceeds maximum 1. Lower speed instruction

speed setting value; 2. Check if UVW phase sequence is

2. Wrong UVW phase sequence; correct;

Err.024 Overspeed
3. Speed response over modulation; 3. Adjust speed loop gains to reduce over

4. Drive faulty shoot;

4. Replace drive

1. Load or inertia too large; 1. Reduce load or increase current loop

Electrical angle
Err.025 2. Wrong encoder cable wiring gains
identification failure
2. Replace encoder cable.

1. Load or inertia too large. Motor cannot 1. Reduce load or increase current loop

Load identification run at specified curves; gains

Err.026
failure 2. Verification process aborted by other 2. Make sure verification process correct.

faults.
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1. Different DOs are assigned with same Reassign DI functions

DI parameter setting function;

Err.027
fault 2. Physical DI and communicational DI

have definition conflicts

DO parameter Different DOs are assigned with same Reassign DO functions

Err.028
setting fault function

S-ON instruction Input S-ON signal after motor is energized

Err.040
invalid fault by other auxiliary functions

Pulse division output Pulse division output is over upper limit. Adjust pulse division output settings.
Err.042
overspeed

1. Servo motor UVW wiring is wrong; 1. Reconnect the cables

2. Servo drive gain settings are too low; 2. Increase servo gains

3. Position instruction pulse frequency is 3. Reduce instruction frequency,

too high; acceleration or adjust gear ratio

Position deviation 4 Position instruction acceleration is too 4. Set up smoothing parameters;

Err.043
too large large; 5. Adjust the value of P00.19

5. P00.19 setting is too low; 6. Replace the drive

6. Servo drive/motor faulty; 7. Check brake power and servo motor is

7. Brake release abnormal. Motor is locked not blocked.

by external forces, gravity etc.

1. Input power cable bad contact; 1. Check input power cables

2. Phase loss fault, i.e. during power on, 2. Measure R/S/T phase-to-phase
Main circuit input
Err.044 one phase of R/S/T is too low for over 1s. voltage to ensure 3 phases are balanced
phase loss
3. For the drive of 1KW or more, input and input power is up to standard.

single 220VAC 3.Set P06. 30 to 1, disable this alarm

Drive output phase 1. Motor UVW bad contact; 1. Check UVW wiring
Err.045
loss 2. Motor broken 2. Replace motor

1. Motor UVW or encoder cable bad 1. Check UVW/encoder cable wiring

contact or loose 2. Check motor is not blocked and brake

2. Motor blocked or brake not released is released

3. Wrong UVW/encoder cable wiring for 3. Check there is no wrong UVW/encoder

Err.046 Drive overload multiple drives/motors cable wiring for multiple drives/motors

4. Motor/drive too small for load 4. Increase acceleration/deceleration

5. Phase loss or wrong phase sequence time or choose bigger drive/motor

6. Motor or drive broken 5. Check UVW wiring

6. Replace drive/motor

Err.047 Motor overload Same as Err.046 Same as Err.046

Electronic gear Electronic gear ratio exceeds setting range Set correct electronic gear
Err.048
setting fault

1. Fan broken 1. Check fan. Replace fan or drive

2. Ambient temperature is too high 2. Measure ambient temperature and

Err.049 Heat sink too hot 3. Too many times of restarting power after improved cooling conditions for servo

overload drive

4. Inappropriate installation directions and 3. Check error records and see if there

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spacing has been overload error. Restart after

5. Servo drive faulty 30s. Increase acceleration/deceleration

6. Motor or drive broken time.

5. Install the servo drive according to

specifications in this manual.

6. Power off and wait for 5 minutes. If this

error persists, replace drive.

1. Input pulse frequency is larger than 1. Adjust P06.38

Pulse input maximum frequency setting 2. Check wiring grounding conditions.

Err.050
abnormal 2. Input pulse is interfered. Use twisted-pair shielded cable. Separate

UVW cable from encoder cable.

1. External encoder abnormal. 1. Check external encoder wirings.

Fully-closed loop
2. Relative settings too conservative. Replace external encoder.
Err.051 position deviation
2. Check parameters of fully-closed loop
too large
deviation and protective functions.

User uses DI of function 32 FORCE_ERR Disconnect DI of function 32.

Err.054 User forced fault
to forcibly enter faulty state.

Absolute position Absolute encoder absolute position Contact ACTION TECHNOLOGY.

Err.055
resetting fault resetting faulty.

Power outage or main circuit abnormal Check if there is instantaneous power

Err.056 Main circuit outage
failure. Increase power voltage capacity.

First start after First start after download customized Initialize the servo drive.

Err.060 writing customized software to the standard driver

software

Err.065 CAN bus disconnection or receive or send Check wiring and connect again
CAN bus off
abnormal

Abnormal NMT Receive NMT stop or reset instruction at NMT node reset, do not stop or reset
Err.066
instruction servo -ON CAN node at servo-ON

CAN bus disconnection or receive or send Check wiring and connect again
Err.067 CAN bus failure
abnormal

1. Speed instruction exceeds maximum 1. Lower speed instruction

speed setting value; 2. Check if UVW phase sequence is

External 2. Wrong UVW phase sequence; correct;

Err.068
overspeed(reserved) 3. Speed response over modulation; 3. Adjust speed loop gains to reduce over

4. Drive faulty shoot;

4. Replace drive

1.External encoder disconnection 1. Check or replace external encoder and

2.External encoder damage wiring

Hybrid deviation too
Err.069 3. Drive error 2. Check or replace external encoder and
large
wiring

3. Check mechanical drive and repair

Do not receive any response when node Check node and NMT node reset
Node protection or
Err.071 protection and heartbeat monitoring
heartbeat timeout
reaches specified time
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Synchronization Synchronization failure with host controller NMT node reset or 6040 send failure
Err.072
failure at CANOpen IP modde reset instruction

Synchronous clock lost more than 2 times Check interference in communication and

CANOpen track at CANOpen IP or CSP mode host controller operate normally.

Err.073
buffer underflow NMT node reset or 6040 send failure

reset instruction

Synchronization clock goes too fast or the Check interference in communication and

CANOpen track actual clock frequency is inconsistent with host controller operate normally.
Err.074
buffer overflow setting value in CANOpen IP or CSP mode NMT node reset or 6040 send failure

reset instruction

Undervoltage DC bus voltage is relatively low. 1. Check main circuit.

AL.080
warning 2. Adjust P06.36

Drive overload Same as Err.046 Same as Err.046

AL.081
warning

Motor overload Same as Err.046 Same as Err.046

AL.082
warning

Parameter Modify parameters which needs restarting. Restart power

AL.083 modification needs

power restart

AL.084 Servo not ready S-ON when servo is not ready. S-ON after detecting S-RDY signal.

Operating E2PROM too frequent. Reduce E2PROM using frequency. Use

E2PROM frequency
AL.085 communication2 which do not save in
writing warning
E2PROM.

1. P_OT & N_OT valid simultaneously Trigger positive limit switch, check

2. Servo over-travel in some directions. operation mode, move the servo towards
Positive over-travel
AL.086 Can be removed automatically. negative direction. After leaving positive
warning
limit switch, this alarm will be removed

automatically.

Same as AL.086 Trigger negative limit switch, check

operation mode, move the servo towards

Negative over-travel
AL.087 positive direction. After leaving negative
warning
limit switch, this alarm will be removed

automatically.

Positive instruction 1. Electronic gear ratio too large 1. Reduce electronic gear ratio
AL.088
overspeed 2. Pulse frequency too high 2. Reduce pulse frequency

Absolute encoder Angle is over 7.2 degree. Replace motor

AL.090 angle initialization

warning

1. Regenerative resistor wrong wiring or 1. Check resistor wiring

bad contact; 2. Check internal resistor wiring;

Regenerative 2. Internal resistor wiring breakage; 3. Increase resistor capacity

AL.093
overload 3. Resistor capacity insufficient; 4. Reduce resistor resistance;

4. Resistor resistance too large and 5. Reduce input voltage

causing long time braking; 6. Set correct parameters

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5. Input voltage exceeds specifications 7. Replace drive

6. Resistor resistance, capacity or heating

time constant parameters settings are

wrong;

7. Drive faulty

1. External regenerative resistor is less 1. Replace resistor

Regenerative
AL.094 than minimum value 2. Check parameters P00.21~P00.24
resistor too small
2. Wrong parameter settings

AL.095 Emergency stop Emergency stop is triggered. This is a normal DI function (function 30)

1. Homing time exceeds P08.95 1. Increase the value of P08.95;

2. P08.90 is set is 3, 4, or 5 and contacted 2. Reduce homing speeds P08.92,

AL.096 Homing error limit switches P08.93

3. Contact limit switches twice when not

using limit switches as origin points.

Encoder battery Encoder battery voltage is lower than Replace battery.

AL.097
undervoltage what’s set in P06.48.

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10. Communication

ACTION TECHNOLOGY Modbus communication is explained in figure below:

Figure 10.1 ACTION TECHNOLOGY Modbus

Electrical Specification EIA485

Communication Type Asynchronous serial

Communication Speed 2.4~115.2Kbps

Data Bit 8-bit

Verification 0~1bit

Stop Bit 1~2bit

Alarm Detection CRC16-CCITT

Transfer Data 8-bit binary

Data Length Below 35 byte

10.1 Communication rules

Parameter addresses are generated by converting decimal to hexadecimal. For example, the address of P08.11 is 080BH.

1. Without encryption, all parameters can be read/written;

2. Some parameters are not editable during operation and error will occur;

3. For 32-bit parameters, both high & low 16-bit must be read/written at the same time;

4. User password can be written by 06H or 10H but this is only inputting password and cannot change password. When

reading password, only 0 will be returned. User password needs to be modified manually;

5. When using communication to write parameters, the results are stored in flash memory and not in E2PROM. To write into

E2PROM, user needs to add E000H to parameter addresses. For example, 080BH (P08.11) + E000H=E80BH.

10.2 Communication read/write commands

1. Read one or multiple holding registers: 03H. Numbers in below figure are hexadecimal.

Axis Modbus Register Register Register Register

CRC (L) CRC (H)
address command addresses (H) addresses (L) quantity (H) quantity (L)

01 03 12 00 00 01 81 72

Response:

Axis Modbus
Data quantity Data value (H) Data value (L) CRC (L) CRC (H)
address command

01 03 02 00 3C B8 55

2. Write single holding register: 0x06

Axis Modbus Register Register

Data value (H) Data value (L) CRC (L) CRC (H)
address command address (H) address (L)

01 06 08 01 00 02 5B AB

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Response:

Axis Modbus Register Register

Data value (H) Data value (L) CRC (L) CRC (H)
address command address (H) address (L)

01 06 08 01 00 02 5B AB

3. Write multiple holding registers: 0x10

01 Axis address

10 Modbus command

08 Register address (H)

0B Register address (L)

00 Register quantity (H)

05 Register quantity (L)

0A Data bytes

4E First data value (H)

20 First data value (L)

00 Second data value (H)

00 Second data value (L)

04 Third data value (H)

B0 Third data value (L)

00 Fourth data value (H)

64 Fourth data value (L)

00 Fifth data value (H)

14 Fifth data value (L)

F8 CRC (L)

5B CRC (H)

Response:

Axis Modbus Register Register Register Register

CRC (L) CRC (H)
address command addresses (H) addresses (L) quantity (H) quantity (L)

01 10 08 0B 00 05 73 A8

4. Error frame

Axis 03H/06H/10H
Error code CRC (L) CRC (H)
address error response

01 83/86/90 xx CRCL CRCH

Error codes:

01 Wrong command 19 Parameter exceeding upper/lower limit

03 Invalid parameter 20 Not input password or password expired

04 CRC error 22 Parameter not editable or restricted

16 Parameter group number data overflow 24 Password parameter not to be edited with others

17 Register quantity is 0 25 Wrong password input

18 32-bit data only reading 16-bit (H or L) 26 Wrong password input 5 times in a row

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10.3 Communication DI functions

All DI functions can be controlled by communication. The procedures are:

Step 1. Check P04.01 to P04.09 settings. Set them to 0 if they are already assigned with the functions to be controlled by

communication;

Step 2. Assign and enable corresponding communication DI function by P09.05 to P09.08.

Step 3. Write commands to corresponding addresses listed below.

Table 10-2 DI terminal configuration parameters for X3E series servo drive

Parameter No. Description Parameter value

P04. 01 DI1 function selection The value 1 to 34 listed in table 1-1.

P04. 02 DI2 function selection The value 1 to 34 listed in table 1-1.

P04. 03 DI3 function selection The value 1 to 34 listed in table 1-1.

P04. 04 DI4 function selection The value 1 to 34 listed in table 1-1.

P04. 05 DI5 function selection The value 1 to 34 listed in table 1-1.

P04. 06 DI6 function selection The value 1 to 34 listed in table 1-1.

P04. 07 DI7 function selection The value 1 to 34 listed in table 1-1.

P04. 08 DI8 function selection The value 1 to 34 listed in table 1-1.

P04. 09 DI9 function selection The value 1 to 34 listed in table 1-1.

Table 10-3 Enabling setting of communication control DI function

Parameter No. Description Parameter value

P09. 05 Communication control DI enabling Each binary bit of this parameter represents a DI function. BI T

setting 1 is reserved. BI T1～BI T15 corresponds to DI 1～15 in table 1-1

respectively. The value of the binary bit indicates whether the

corresponding DI function of communication control is enabled:

0: Disable 1: Enable

P09. 06 Communication control DI enabling BI T0 ～ BI T15 corresponds to DI 16 ～ 31 in table 1-1

setting 2 respectively.

P09. 07 Communication control DI enabling BI T0 ～ BI T15 corresponds to DI 32 ～ 47 in table 1-1

setting 3 respectively.

P09. 08 Communication control DI enabling BI T0 ～ BI T15 corresponds to DI 48 ～ 63 in table 1-1

setting 4 respectively.

Table 10-3 Communication DI addresses

Address Usage Remarks

Bit0 is reserved. Bit1~Bit15 corresponds to DI functions 1-15.

3607H Communication DI function status value 1 0: Invalid

1: Valid

3608H Communication DI function status value 2 Bit0~Bit15 corresponds to DI functions 16-31.

3609H Communication DI function status value 3 Bit0~Bit15 corresponds to DI functions 32-47(Note 1).

360AH Communication DI function status value 4 Bit0~Bit15 corresponds to DI functions 48-63(Note 2)

Caution：Communication address in Table 10-4 is represented by hexadecimal.

Note 1：DI 35～47 are reserved.

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Note 2：DI 48～63 are reserved.

Example 1: Use communication to S-ON

Step 1: Set P04.01=0;

Step 2: Set P09.05=2H (10B);

Step 3: Write 2H to address 3607H continuously with intervals less than 5s (set by P09.11). Write 0H to turn off S-ON.

Note: If step 1 is skipped, Err.027 will occur.

Example 2: Use communication to ERR_RST and PERR_CLR

Step 1: Set P04.02=0, P04.04=0;

Step 2: Set P09.05=24H (100100B);

Step 3: Write 4H to address 3607H to ERR_RST. Write 20H to PERR_CLR. These two functions do not need to write

continuously.

Note: If step 1 is skipped, Err.027 will occur.

10.4 Communication DO functions

Similar to DI, enable the communication output DO function and the corresponding parameter is P09. 09 and P09. 10. The

read address is 3688H and 3689H.

Bit0 is reserved. Bit1~Bit15 corresponds to DO functions 1-15.

P09. 09 Communication DO setting 1 0: Invalid

1: Valid

Bit0~Bit15 corresponds to DO functions 16-31.

P09. 10 Communication DO setting 2 0: Invalid

1: Valid

Address Usage Remarks

Bit0 is reserved. Bit1~Bit15 corresponds to DO functions 1-15.

3688H Communication DO function selection 1 0: Invalid

1: Valid

3689H Communication DO function selection 2 Bit0~Bit15 corresponds to DO functions 16-31.

Example: Use communication to read V_CMP

Step 1: Set P04.26=0;

Step 2: Set P09.09=40H (100000B);

Step 3: Read Bit6 of 3688H.

10.5 Reading encoder absolute positions

Read number of turns of absolute encoder. The data is signed 32-bit.

Axis Modbus Register Register Register Register

CRC (L) CRC (H)
address command addresses (H) addresses (L) quantity (H) quantity (L)

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01 03 15 20 00 02 C1 CD

Response:

Axis Modbus CRC CRC

Bytes Bit 8~15 Bit 0~7 Bit 24~31 Bit 16~23
address command (L) (H)

01 03 04 00 03 00 00 0A 33

Read single turn position of absolute encoder. The data is unsigned 32-bit.

Axis Modbus Register Register Register Register

CRC (L) CRC (H)
address command addresses (H) addresses (L) quantity (H) quantity (L)

01 03 15 22 00 02 60 0D

Response:

Axis Modbus CRC CRC

Bytes Bit 8~15 Bit 0~7 Bit 24~31 Bit 16~23
address command (L) (H)

01 03 04 36 07 00 01 85 8A

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